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                  },
                  {
                    "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_0",
          "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": 135,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.0473661795258522,
              0.13247642517089842,
              0.9328055667877198
            ],
            "target_euler": [
              3.145554780960083,
              -0.01826026663184166,
              -0.16111621260643005
            ],
            "joint_target": [
              0.16884237356456835,
              0.2496720911721293,
              -0.0753722405140611,
              -2.277734735791216,
              -0.00010635892257339309,
              2.5259342818524595,
              -3.6708290630891884
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.04828927350465007,
              0.12821686158702922,
              0.9208571256043804
            ],
            "ee_path_m": 0.6425017308736196,
            "joint_path_rad": 3.7420778173543114,
            "native_success": true,
            "simulation_time_s": 15.499999999996849,
            "object_displacement_m": {
              "table": 1.701417080310862e-06,
              "card_holder0": 1.7408092320317364e-06,
              "king_of_clubs": 1.740805017199114e-06,
              "card_holder1": 0.00013727306068357363,
              "ace_of_hearts": 0.06961991370051727,
              "card_holder2": 1.691515654365221e-06,
              "jack_of_hearts": 1.691511453972358e-06,
              "card_holder3": 1.6709967887032626e-06,
              "9_of_spades": 1.6709925941535993e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "ace_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.036158084869384766,
                0.06570539474487302,
                1.0225342351198197
              ],
              "target_euler": [
                -3.1335184574127197,
                -0.02485388144850731,
                -0.787353515625
              ],
              "joint_target": [
                0.20093616781783627,
                -0.09875185749571233,
                -0.11713872181904333,
                -2.4500822572870917,
                -0.04681571148702479,
                2.337638757036242,
                -3.0233626223859873
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.03537992977246575,
                0.06134499226837995,
                1.0185175572533587
              ],
              "ee_path_m": 0.33014563592582874,
              "joint_path_rad": 1.8429473338228903,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.119181328411588e-18,
                "card_holder0": 4.508722185830055e-12,
                "king_of_clubs": 6.680046889017659e-12,
                "card_holder1": 4.508722185830055e-12,
                "ace_of_hearts": 6.679872923219306e-12,
                "card_holder2": 4.508722185830055e-12,
                "jack_of_hearts": 6.679874989481279e-12,
                "card_holder3": 4.508722185830055e-12,
                "9_of_spades": 6.680046889017659e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.05139881744980812,
                0.1342944264411926,
                0.8446728724241257
              ],
              "target_euler": [
                -3.206343650817871,
                -0.018206369131803513,
                -0.18440043926239014
              ],
              "joint_target": [
                0.1553510663242513,
                0.47283025027213005,
                -0.05461732999501932,
                -2.206582556731971,
                0.051239785312016284,
                2.61096316481107,
                -3.6819933794447937
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.05156307940453522,
                0.13611643897023037,
                0.8470569944215625
              ],
              "ee_path_m": 0.5461736707086896,
              "joint_path_rad": 3.069902853451967,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 8.817721152082294e-08,
                "card_holder0": 9.451581020930773e-08,
                "king_of_clubs": 9.470728061815075e-08,
                "card_holder1": 5.238799730340809e-06,
                "ace_of_hearts": 0.004397819155128784,
                "card_holder2": 8.994395647115628e-08,
                "jack_of_hearts": 9.016861706536327e-08,
                "card_holder3": 8.795175767592321e-08,
                "9_of_spades": 8.818889506623209e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 135,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.0473661795258522,
                0.13247642517089842,
                0.9328055667877198
              ],
              "target_euler": [
                3.145554780960083,
                -0.01826026663184166,
                -0.16111621260643005
              ],
              "joint_target": [
                0.16884237356456835,
                0.2496720911721293,
                -0.0753722405140611,
                -2.277734735791216,
                -0.00010635892257339309,
                2.5259342818524595,
                -3.6708290630891884
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.04828927350465007,
                0.12821686158702922,
                0.9208571256043804
              ],
              "ee_path_m": 0.6425017308736196,
              "joint_path_rad": 3.7420778173543114,
              "native_success": true,
              "simulation_time_s": 15.499999999996849,
              "object_displacement_m": {
                "table": 1.701417080310862e-06,
                "card_holder0": 1.7408092320317364e-06,
                "king_of_clubs": 1.740805017199114e-06,
                "card_holder1": 0.00013727306068357363,
                "ace_of_hearts": 0.06961991370051727,
                "card_holder2": 1.691515654365221e-06,
                "jack_of_hearts": 1.691511453972358e-06,
                "card_holder3": 1.6709967887032626e-06,
                "9_of_spades": 1.6709925941535993e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "ace_of_hearts"
              ]
            }
          },
          "steps": 135,
          "simulator_steps": 135,
          "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": 5.5596399049973115,
          "ee_path_m": 0.6425017308736196,
          "joint_path_rad": 3.7420778173543114,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 68,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 14.158599010988837,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 105
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_1",
          "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": [
              -0.1318150907754898,
              0.0674125015735626,
              1.0321317303180695
            ],
            "target_euler": [
              3.0803375244140625,
              -0.03617055341601372,
              -0.04538029432296753
            ],
            "joint_target": [
              0.5437110246151827,
              -0.039613116308254946,
              -0.2631903735686169,
              -2.337714068274451,
              -0.03151254817037279,
              2.229603468825717,
              -3.5800593901340902
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.13081433301403472,
              0.06313225590962593,
              1.0292106994352554
            ],
            "ee_path_m": 1.256045989072454,
            "joint_path_rad": 7.304098523487565,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.8959323396050875e-06,
              "card_holder0": 1.8511908371377948e-06,
              "2_of_hearts": 1.8511879216700751e-06,
              "card_holder1": 1.8805295926651017e-06,
              "5_of_hearts": 1.8805267852354585e-06,
              "card_holder2": 0.00156164408397479,
              "8_of_clubs": 0.04186086302859291,
              "card_holder3": 1.9356839332378325e-06,
              "queen_of_diamonds": 1.9356811180770557e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.07317554950714111,
                0.032410955429077126,
                0.9797953653335572
              ],
              "target_euler": [
                -3.1210856437683105,
                -0.025481881573796272,
                -0.46028345823287964
              ],
              "joint_target": [
                0.26670355480412244,
                -0.10793324317550415,
                -0.43550837387678487,
                -2.5923108781802537,
                -0.12731013529090532,
                2.5028126452599015,
                -3.532683945691975
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.07288830171147959,
                0.028304567465838912,
                0.9771029604516632
              ],
              "ee_path_m": 0.34285182610642284,
              "joint_path_rad": 2.2621827840131776,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.445913925354143e-17,
                "card_holder0": 3.83026943495679e-12,
                "2_of_hearts": 5.779821066198565e-12,
                "card_holder1": 3.913757609599118e-12,
                "5_of_hearts": 5.770423341630614e-12,
                "card_holder2": 3.8719027983802334e-12,
                "8_of_clubs": 5.778678586629927e-12,
                "card_holder3": 3.913536161803677e-12,
                "queen_of_diamonds": 5.7702870259745964e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.08114791661500931,
                0.051061487197875954,
                0.8238507199287415
              ],
              "target_euler": [
                3.121901750564575,
                -0.025589168071746826,
                -0.1452631950378418
              ],
              "joint_target": [
                0.18458142690561236,
                0.4077106870334031,
                -0.29439108025696975,
                -2.485997654979372,
                0.3135459655036286,
                2.8429583959398705,
                -4.171856503092229
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.08063942338251773,
                0.048114510694536095,
                0.8198423248400601
              ],
              "ee_path_m": 0.5396810823580042,
              "joint_path_rad": 3.853850770047431,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.8959308553146208e-06,
                "card_holder0": 1.851194234647826e-06,
                "2_of_hearts": 1.8511944149924251e-06,
                "card_holder1": 1.8805328836473968e-06,
                "5_of_hearts": 1.8805331738397194e-06,
                "card_holder2": 0.0015616433835150302,
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                    "class": "Poker",
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                  {
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                  {
                    "name": "jack_of_diamonds",
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                    "class": "Poker",
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                "scene": {
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                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
                    "floorplane"
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                },
                "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": [
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                ],
                "target_container": null
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            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_3",
          "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
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            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 136,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.16388633847236633,
              0.10833582878112791,
              0.9310678231716156
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            "target_euler": [
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              -0.004076272249221802,
              -0.19682717323303223
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            "joint_target": [
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              0.2574100428910598,
              0.0348251954555822,
              -2.2648662174443963,
              -0.0032111136114599034,
              2.501183447233668,
              -3.418280587763708
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            "gripper": [
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            "ee_position": [
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              0.9229154425510745
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            "ee_path_m": 0.6607565506435615,
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            "native_success": true,
            "simulation_time_s": 15.599999999996793,
            "object_displacement_m": {
              "table": 3.0600336455531577e-06,
              "card_holder0": 0.0003049743258080907,
              "7_of_hearts": 0.07264054143180498,
              "card_holder1": 3.1178241160631953e-06,
              "3_of_hearts": 3.1178227977442815e-06,
              "card_holder2": 2.9994740930298623e-06,
              "jack_of_diamonds": 2.9994728399868536e-06
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            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "7_of_hearts"
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          },
          "snapshots": {
            "60": {
              "step": 60,
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              "object_displacement_m": {
                "table": 1.753250272696539e-18,
                "card_holder0": 3.0537440611031886e-12,
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                "card_holder1": 3.0537440611031886e-12,
                "3_of_hearts": 4.555395430853803e-12,
                "card_holder2": 3.0780921689876917e-12,
                "jack_of_diamonds": 4.567433841277241e-12
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            "100": {
              "step": 100,
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              "ee_path_m": 0.551651491427246,
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              "object_displacement_m": {
                "table": 4.115482490298208e-07,
                "card_holder0": 3.1597103592737906e-05,
                "7_of_hearts": 0.004962074966991023,
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                "3_of_hearts": 4.4272145822778455e-07,
                "card_holder2": 4.246451949503061e-07,
                "jack_of_diamonds": 4.266627791430188e-07
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            "200": {
              "step": 136,
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                "card_holder1": 3.1178241160631953e-06,
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                "card_holder2": 2.9994740930298623e-06,
                "jack_of_diamonds": 2.9994728399868536e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
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          },
          "steps": 136,
          "simulator_steps": 136,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "alternative_entity": null,
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          "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0",
          "observation_matches_upstream": true,
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          "hold": {
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            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
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            "persistent_both": false
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          "repeat_environment_steps": 2,
          "issued_commands": 68,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
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          "interaction": {
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            "first_candidate_grasp_action": 105
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
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                      -7.789010678285046e-07
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                    "orientation": [
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.08074525659853957,
                      0.8309988961353516
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                    "orientation": [
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                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.830998897124287
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                    "orientation": [
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                    "class": "Poker",
                    "value": "king",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                      0.08338912900350204,
                      0.7659989998453118
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.08338910260836513,
                      0.8309988973791771
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                    "orientation": [
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                      -0.5000000025964465,
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                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
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                ],
                "scene": {
                  "name": "default",
                  "position": [
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                  "orientation": [
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                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
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                },
                "instructions": [
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                ],
                "conditions": {
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                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
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                  "lift": {
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                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
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                ],
                "target_container": null
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_4",
          "instruction": "Please pick the poker king of clubs",
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            "simulation_time_s": 1.9999999999998905,
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              "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,
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          "final": {
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              "king_of_diamonds": 1.5945694416015657e-06,
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                "king_of_diamonds": 3.402711748549162e-12,
                "card_holder2": 2.2670121430193837e-12,
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            "100": {
              "step": 100,
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                "king_of_diamonds": 1.1674840296157013e-06,
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                "9_of_hearts": 1.1345378740483049e-06
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            "200": {
              "step": 200,
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                "card_holder0": 0.0002483725370786792,
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                "king_of_diamonds": 1.5945694416015657e-06,
                "card_holder2": 1.547384013056733e-06,
                "9_of_hearts": 1.5473904191607638e-06
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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": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "2880da9836a512a63cbc5f3576689a114472875f888a77ad5154d220b2cd1708",
          "observation_matches_upstream": true,
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          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 14.94794729698333,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 103
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19131641017187384,
                      0.1980019284049921,
                      0.8309988865263485
                    ],
                    "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
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "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
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                    "orientation": [
                      0.707106781186546,
                      -4.723494782554431e-09,
                      5.0449794958084284e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_clubs",
                    "xml_path": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_5",
          "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": [
              0.02316194772720337,
              0.03286436796188352,
              1.0675661253929138
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            "target_euler": [
              2.9857094287872314,
              -0.024142134934663773,
              -0.17798998951911926
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            "joint_target": [
              0.5927341231617507,
              -0.24232104018802234,
              -0.6242759892590766,
              -2.3959135289288076,
              -0.1541795649985344,
              2.033950362625165,
              -3.673982621679808
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            "gripper": [
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              0.0
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            "ee_position": [
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              0.02966534114245796,
              1.0645739190636851
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            "ee_path_m": 1.0939562845016126,
            "joint_path_rad": 8.894008030242523,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.338327739164568e-06,
              "card_holder0": 2.198051916996442e-06,
              "queen_of_spades": 2.19804703951049e-06,
              "card_holder1": 2.299501162913108e-06,
              "2_of_hearts": 2.2994962695584265e-06,
              "card_holder2": 2.384249017873081e-06,
              "6_of_clubs": 2.3842440956885407e-06,
              "card_holder3": 0.0003943895282561838,
              "jack_of_diamonds": 0.06100459687248507
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            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
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          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "target_position_world": [
                0.16402077674865723,
                -0.03719016313552859,
                1.0026698249578476
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              "target_euler": [
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              "joint_target": [
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                2.369513024393162,
                -3.426155223810383
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              "gripper": [
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              "ee_position": [
                0.16234967242478712,
                -0.0405364974395826,
                1.000543735374728
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              "ee_path_m": 0.32537101641790384,
              "joint_path_rad": 2.118430280839657,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.651803218329562e-17,
                "card_holder0": 4.333071178949439e-12,
                "queen_of_spades": 6.440003825300507e-12,
                "card_holder1": 4.331682488214764e-12,
                "2_of_hearts": 6.441076187975037e-12,
                "card_holder2": 4.331682488214764e-12,
                "6_of_clubs": 6.441020705822174e-12,
                "card_holder3": 4.321398205067134e-12,
                "jack_of_diamonds": 6.435507192580369e-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": [
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                -0.014804208278656028,
                0.827106146812439
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              "target_euler": [
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                -0.01090996339917183,
                -0.2025260329246521
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              "joint_target": [
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                0.37492651801233035,
                -0.3606231650536406,
                -2.574958605967607,
                0.6116817243033651,
                2.925982369708695,
                -4.651798986122495
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              "gripper": [
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                0.04
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              "ee_position": [
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                0.8323350948914838
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              "ee_path_m": 0.5375373740936747,
              "joint_path_rad": 4.298270568416589,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.2270174769453283e-06,
                "card_holder0": 1.2292547141669113e-06,
                "queen_of_spades": 1.235738182638493e-06,
                "card_holder1": 1.282968683498483e-06,
                "2_of_hearts": 1.289429068190488e-06,
                "card_holder2": 1.3276746362225983e-06,
                "6_of_clubs": 1.3341085132776239e-06,
                "card_holder3": 0.00013454625841945308,
                "jack_of_diamonds": 0.013749427074151164
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              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
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            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.02316194772720337,
                0.03286436796188352,
                1.0675661253929138
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              "target_euler": [
                2.9857094287872314,
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                -0.17798998951911926
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              "joint_target": [
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                -0.1541795649985344,
                2.033950362625165,
                -3.673982621679808
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              "gripper": [
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                0.0
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              "ee_position": [
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                1.0645739190636851
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              "ee_path_m": 1.0939562845016126,
              "joint_path_rad": 8.894008030242523,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.338327739164568e-06,
                "card_holder0": 2.198051916996442e-06,
                "queen_of_spades": 2.19804703951049e-06,
                "card_holder1": 2.299501162913108e-06,
                "2_of_hearts": 2.2994962695584265e-06,
                "card_holder2": 2.384249017873081e-06,
                "6_of_clubs": 2.3842440956885407e-06,
                "card_holder3": 0.0003943895282561838,
                "jack_of_diamonds": 0.06100459687248507
              },
              "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": 7.574249914003303,
          "ee_path_m": 1.0939562845016126,
          "joint_path_rad": 8.894008030242523,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 15.799434814980486,
          "compiled_physics_parameters_sha256": "61005b74323be9118d9e2739393e834c089c5cdbb6eeaaaedfe68eab36ff1f40",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 99
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_6",
          "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": 137,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.059690210968256,
              0.06391576528549192,
              0.931896595954895
            ],
            "target_euler": [
              3.0611958503723145,
              -0.014228392392396927,
              -0.20472002029418945
            ],
            "joint_target": [
              0.093076875173118,
              0.12182084096050272,
              -0.21508188901746372,
              -2.451935375459117,
              0.03034643774809777,
              2.489437636135408,
              -3.868879853539197
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              0.059574375532453365,
              0.06056754951406162,
              0.9234509717084836
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            "ee_path_m": 0.679279088579112,
            "joint_path_rad": 4.213633041295309,
            "native_success": true,
            "simulation_time_s": 15.699999999996738,
            "object_displacement_m": {
              "table": 3.3776316648520653e-06,
              "card_holder0": 3.3122263035923963e-06,
              "king_of_hearts": 3.312247755143091e-06,
              "card_holder1": 3.354341578571036e-06,
              "5_of_hearts": 3.354362971153065e-06,
              "card_holder2": 0.012262786484117794,
              "jack_of_diamonds": 0.07416700021354106
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "jack_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
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                      0.7659989981733321
                    ],
                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "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": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_8",
          "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": 167,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.07623977959156036,
              0.18273339271545408,
              0.9342385518550873
            ],
            "target_euler": [
              3.092369556427002,
              -0.019634302705526352,
              -0.09774011373519897
            ],
            "joint_target": [
              -0.13748227668422475,
              0.40375154213160114,
              0.2787138210827999,
              -2.0347189220849797,
              -0.16689723742167867,
              2.3648001882628322,
              -3.5842444842289485
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.07592966292558607,
              0.17885923417159336,
              0.9227399444141511
            ],
            "ee_path_m": 0.8663038303409685,
            "joint_path_rad": 5.403973966340018,
            "native_success": true,
            "simulation_time_s": 18.69999999999987,
            "object_displacement_m": {
              "table": 3.6097372261791755e-06,
              "card_holder0": 3.6639214678250535e-06,
              "4_of_hearts": 3.6639524647337304e-06,
              "card_holder1": 0.018845082919170343,
              "5_of_hearts": 0.0810381488953911,
              "card_holder2": 3.591882065757845e-06,
              "ace_of_spades": 3.5919129593279665e-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": [
                -0.10354339331388474,
                0.09297836422920225,
                1.1095782804489136
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              "target_euler": [
                -3.0576682090759277,
                -0.04758458212018013,
                -1.4360389709472656
              ],
              "joint_target": [
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                -0.09255469066635116,
                0.15665727336474466,
                -2.1882856839504465,
                -0.07267253993642508,
                2.040720838584424,
                -2.231520760367957
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              "gripper": [
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              "ee_position": [
                -0.10166864388604034,
                0.0898067530995249,
                1.1040355676525941
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              "ee_path_m": 0.3705829964696849,
              "joint_path_rad": 1.887617930900107,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.820160570125408e-18,
                "card_holder0": 3.0718538955360006e-12,
                "4_of_hearts": 4.5572638743836355e-12,
                "card_holder1": 3.0074501096470667e-12,
                "5_of_hearts": 4.557497853757943e-12,
                "card_holder2": 3.045672824195183e-12,
                "ace_of_spades": 4.55125158393759e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.09841156005859375,
                0.16651812791824339,
                0.9427441346645355
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              "target_euler": [
                -3.098827600479126,
                -0.01757311448454857,
                -0.49718397855758667
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              "joint_target": [
                -0.020705294453870045,
                0.32434901807708977,
                0.20072635478174775,
                -2.14180529118319,
                -0.16859667945118278,
                2.4760388936860496,
                -3.129986430838289
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              "gripper": [
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                0.04
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              "ee_position": [
                -0.09779830060360227,
                0.16245284693220857,
                0.9375120717669378
              ],
              "ee_path_m": 0.5925007255497257,
              "joint_path_rad": 3.24261400275543,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.1548942251276903e-18,
                "card_holder0": 5.119756492560001e-12,
                "4_of_hearts": 7.59538949127488e-12,
                "card_holder1": 5.01243874558096e-12,
                "5_of_hearts": 7.59227967263012e-12,
                "card_holder2": 5.0761247626738124e-12,
                "ace_of_spades": 7.585036006343401e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 167,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07623977959156036,
                0.18273339271545408,
                0.9342385518550873
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              "target_euler": [
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                -0.019634302705526352,
                -0.09774011373519897
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              "joint_target": [
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                0.40375154213160114,
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                -2.0347189220849797,
                -0.16689723742167867,
                2.3648001882628322,
                -3.5842444842289485
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.9227399444141511
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              "ee_path_m": 0.8663038303409685,
              "joint_path_rad": 5.403973966340018,
              "native_success": true,
              "simulation_time_s": 18.69999999999987,
              "object_displacement_m": {
                "table": 3.6097372261791755e-06,
                "card_holder0": 3.6639214678250535e-06,
                "4_of_hearts": 3.6639524647337304e-06,
                "card_holder1": 0.018845082919170343,
                "5_of_hearts": 0.0810381488953911,
                "card_holder2": 3.591882065757845e-06,
                "ace_of_spades": 3.5919129593279665e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_of_hearts"
              ]
            }
          },
          "steps": 167,
          "simulator_steps": 167,
          "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": 6.609158075007144,
          "ee_path_m": 0.8663038303409685,
          "joint_path_rad": 5.403973966340018,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "5_of_hearts"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 84,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 14.533513178990688,
          "compiled_physics_parameters_sha256": "ab979cfde646a33464a5d287550dfcd2e0178b18c2351c82b11e7559780e5951",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 126
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.20318190056268576,
                      0.17630451880536321,
                      0.7659989963198195
                    ],
                    "orientation": [
                      0.7071067811865474,
                      -7.0459426055636745e-09,
                      2.8312771686035696e-09,
                      0.707106781186547
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "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,
                      0.17561605557111643,
                      0.7659989971508677
                    ],
                    "orientation": [
                      0.707106781186547,
                      -7.045942605540012e-09,
                      2.8312771686000086e-09,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06537053421849995,
                      0.17561598391950844,
                      0.8309988946848395
                    ],
                    "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
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_9",
          "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": 147,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.07856559008359909,
              0.16608390808105467,
              0.9346474993228913
            ],
            "target_euler": [
              3.101027011871338,
              -0.020018771290779114,
              -0.09868288040161133
            ],
            "joint_target": [
              0.15674717834329313,
              0.34565422935260054,
              -0.016516252721753836,
              -2.107249502036776,
              -0.006334169624771563,
              2.4086979971258256,
              -3.682812828674947
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            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.0774399939329811,
              0.16243100831221588,
              0.9237816385953316
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            "ee_path_m": 0.7090426149789613,
            "joint_path_rad": 4.096113234217209,
            "native_success": true,
            "simulation_time_s": 16.699999999997427,
            "object_displacement_m": {
              "table": 1.1698317049829386e-06,
              "card_holder0": 1.2068233821414178e-06,
              "6_of_spades": 1.206829964126835e-06,
              "card_holder1": 0.00010366915502729639,
              "10_of_clubs": 0.07348700478053669,
              "card_holder2": 1.1629237327116644e-06,
              "7_of_hearts": 1.1629303326797374e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "10_of_clubs"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.04642925038933754,
                0.0740343391895294,
                1.0210711944103241
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              "target_euler": [
                -3.145962953567505,
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                -0.8416633605957031
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              "joint_target": [
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                -0.06594495078478518,
                -0.10447587364010119,
                -2.4139228589111807,
                -0.0259267194901125,
                2.324149048500346,
                -2.966251214825537
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              "gripper": [
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              "ee_position": [
                -0.04561681998082434,
                0.0696669830096795,
                1.0168264327351124
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              "ee_path_m": 0.3359533154670322,
              "joint_path_rad": 1.940366113711362,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.4572579070958154e-18,
                "card_holder0": 4.701437310625701e-12,
                "6_of_spades": 7.085015036717206e-12,
                "card_holder1": 4.701437310625701e-12,
                "10_of_clubs": 7.052155965938552e-12,
                "card_holder2": 4.7178151483805345e-12,
                "7_of_hearts": 7.06845460303466e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07800674438476562,
                0.17118046283721922,
                0.863630457520485
              ],
              "target_euler": [
                -3.2109997272491455,
                -0.020920081064105034,
                -0.1743444800376892
              ],
              "joint_target": [
                0.16015684395838853,
                0.5112715620423407,
                -0.02351588018055854,
                -2.0604591781447628,
                0.021676568825082402,
                2.4990233119536893,
                -3.631311653628555
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.07762062396208387,
                0.16683958097487994,
                0.8585185774022849
              ],
              "ee_path_m": 0.5519763483763994,
              "joint_path_rad": 3.1152329538620585,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.779324316033671e-18,
                "card_holder0": 7.835728851042836e-12,
                "6_of_spades": 1.1808358394528677e-11,
                "card_holder1": 7.835728851042836e-12,
                "10_of_clubs": 1.1753593276564254e-11,
                "card_holder2": 7.863025247300891e-12,
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          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "1_pin",
            "9_man"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 95,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 19.93448395500309,
          "compiled_physics_parameters_sha256": "10b3ccc9caba142b1d5cd3c35a5ce8684096a049fc9ee10e11c6337d689c000a",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 99
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 42,
            "track_index": 0,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      9.840074972758147e-14,
                      -1.425333331040408e-12,
                      -7.872541646548994e-07
                    ],
                    "orientation": [
                      1.0,
                      -7.168161705194738e-09,
                      -4.94739344119751e-10,
                      -4.342132129985305e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.2040297263438566,
                      0.0897790735742295,
                      0.7659989901514396
                    ],
                    "orientation": [
                      0.7071067811865448,
                      -5.418498345480428e-09,
                      4.718837214056119e-09,
                      0.7071067811865493
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.2040297212691037,
                      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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_0",
          "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": [
              0.0899859070777893,
              0.05918774604797361,
              1.0194678443670273
            ],
            "target_euler": [
              3.021695137023926,
              -0.016343284398317337,
              -0.027145028114318848
            ],
            "joint_target": [
              0.051247514167249465,
              -0.046505006575749415,
              -0.23337654745535566,
              -2.3741516761185055,
              -0.0564734415481678,
              2.2121088317401116,
              -4.044486573529585
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.09034389355153338,
              0.05547407022206542,
              1.0158405978136407
            ],
            "ee_path_m": 1.1118375534832052,
            "joint_path_rad": 5.578890508605356,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 3.045250695565022e-08,
              "card_holder0": 2.983671521549511e-08,
              "king_of_clubs": 2.984393333885778e-08,
              "card_holder1": 3.0314208424553986e-08,
              "ace_of_hearts": 3.0321434922626386e-08,
              "card_holder2": 2.158824840946858e-06,
              "jack_of_hearts": 0.19015454904958426,
              "card_holder3": 3.115438704818712e-08,
              "9_of_spades": 3.116162037813481e-08
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "jack_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.00670746061950922,
                0.05281329751014707,
                1.0194500970840454
              ],
              "target_euler": [
                -3.1171650886535645,
                -0.03390789404511452,
                -0.690890908241272
              ],
              "joint_target": [
                0.21809659580569232,
                -0.13915061311800275,
                -0.193116917926818,
                -2.5055521619145673,
                -0.09720855147379878,
                2.3627257552336367,
                -3.141034533201118
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.00616270420028767,
                0.04877298366232737,
                1.0157151182328632
              ],
              "ee_path_m": 0.3221490604753751,
              "joint_path_rad": 1.7280873047432828,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.471719080727549e-18,
                "card_holder0": 4.508722185830055e-12,
                "king_of_clubs": 6.680046889017659e-12,
                "card_holder1": 4.508722185830055e-12,
                "ace_of_hearts": 6.679919441853709e-12,
                "card_holder2": 4.508722185830055e-12,
                "jack_of_hearts": 6.679919441853709e-12,
                "card_holder3": 4.508722185830055e-12,
                "9_of_spades": 6.680046889017659e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.009381741285324097,
                0.13306299448013303,
                0.8462418901920319
              ],
              "target_euler": [
                -3.1407394409179688,
                -0.018251553177833557,
                -0.09506791830062866
              ],
              "joint_target": [
                0.13262294361026755,
                0.4534846426915271,
                -0.1340512279311127,
                -2.265785446735733,
                0.09717863463420397,
                2.7128574997414225,
                -3.909229741958574
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.009355874127157918,
                0.12803443510461746,
                0.84222640340555
              ],
              "ee_path_m": 0.5368584692513021,
              "joint_path_rad": 3.0785254106364124,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.3836375145617133e-17,
                "card_holder0": 7.514536976383425e-12,
                "king_of_clubs": 1.1133411481696099e-11,
                "card_holder1": 7.514536976383425e-12,
                "ace_of_hearts": 1.1133280840448289e-11,
                "card_holder2": 7.514536976383425e-12,
                "jack_of_hearts": 1.1133280840448289e-11,
                "card_holder3": 7.514536976383425e-12,
                "9_of_spades": 1.1133411481696099e-11
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.0899859070777893,
                0.05918774604797361,
                1.0194678443670273
              ],
              "target_euler": [
                3.021695137023926,
                -0.016343284398317337,
                -0.027145028114318848
              ],
              "joint_target": [
                0.051247514167249465,
                -0.046505006575749415,
                -0.23337654745535566,
                -2.3741516761185055,
                -0.0564734415481678,
                2.2121088317401116,
                -4.044486573529585
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.09034389355153338,
                0.05547407022206542,
                1.0158405978136407
              ],
              "ee_path_m": 1.1118375534832052,
              "joint_path_rad": 5.578890508605356,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 3.045250695565022e-08,
                "card_holder0": 2.983671521549511e-08,
                "king_of_clubs": 2.984393333885778e-08,
                "card_holder1": 3.0314208424553986e-08,
                "ace_of_hearts": 3.0321434922626386e-08,
                "card_holder2": 2.158824840946858e-06,
                "jack_of_hearts": 0.19015454904958426,
                "card_holder3": 3.115438704818712e-08,
                "9_of_spades": 3.116162037813481e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_hearts"
              ]
            }
          },
          "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": 7.675393961981172,
          "ee_path_m": 1.1118375534832052,
          "joint_path_rad": 5.578890508605356,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 16.490690364007605,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_1",
          "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": [
              -0.011987142264842987,
              0.04901126623153684,
              0.928754358291626
            ],
            "target_euler": [
              3.005422353744507,
              -0.0209480132907629,
              0.0763888955116272
            ],
            "joint_target": [
              0.5266649294992373,
              0.11410120819850518,
              -0.4858593434986481,
              -2.4764786170596387,
              0.042521078780456564,
              2.441587083099646,
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            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 72,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 14.340166884998325,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 113
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_3",
          "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": 144,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.1354292929172516,
              0.10758832693099973,
              0.9299553620815277
            ],
            "target_euler": [
              3.0967273712158203,
              -0.004242580384016037,
              -0.07687222957611084
            ],
            "joint_target": [
              0.2143549191156188,
              0.24633189480346251,
              0.04475885534509998,
              -2.279579602481445,
              -0.0003399503618364285,
              2.481897755943813,
              -3.592543462571075
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.13430725250886902,
              0.10400684365732124,
              0.9223579370907026
            ],
            "ee_path_m": 0.7072272063261957,
            "joint_path_rad": 4.706909898720937,
            "native_success": true,
            "simulation_time_s": 16.39999999999706,
            "object_displacement_m": {
              "table": 3.104510318303183e-06,
              "card_holder0": 0.001223491068087097,
              "7_of_hearts": 0.07228948036580964,
              "card_holder1": 3.1647510551709492e-06,
              "3_of_hearts": 3.1647507961056703e-06,
              "card_holder2": 3.057791327235559e-06,
              "jack_of_diamonds": 3.057791114200467e-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": [
                -0.0958956852555275,
                0.032900786399841286,
                1.006876974105835
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              "target_euler": [
                -3.14189076423645,
                -0.03607982024550438,
                -0.6207968592643738
              ],
              "joint_target": [
                0.2714991669486536,
                -0.12979237929446638,
                -0.047236197605443044,
                -2.5308257243966428,
                -0.04295764060305874,
                2.3735292417133227,
                -3.050929866914332
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              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.09411191325821265,
                0.029125124861414328,
                1.003064079712178
              ],
              "ee_path_m": 0.3210812556047815,
              "joint_path_rad": 1.7457094705339575,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.5062108487265904e-18,
                "card_holder0": 3.0537440611031886e-12,
                "7_of_hearts": 4.563129087198266e-12,
                "card_holder1": 3.0537440611031886e-12,
                "3_of_hearts": 4.55535801752657e-12,
                "card_holder2": 3.078467490352979e-12,
                "jack_of_diamonds": 4.567433841277241e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.13502542674541473,
                0.10587213039398191,
                0.8367272156476975
              ],
              "target_euler": [
                -3.139630079269409,
                -0.016712144017219543,
                -0.12050080299377441
              ],
              "joint_target": [
                0.2835908802778469,
                0.45641843635273943,
                -0.019554529325301773,
                -2.292528806877556,
                -0.019656774547336366,
                2.7443333123936924,
                -3.5231412387494965
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              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.1350874251231206,
                0.11063075846975033,
                0.8421160798147278
              ],
              "ee_path_m": 0.5340846632466,
              "joint_path_rad": 3.1282440418744977,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 3.198049867727983e-07,
                "card_holder0": 2.662185737865752e-05,
                "7_of_hearts": 0.006122507592852585,
                "card_holder1": 3.616264906591972e-07,
                "3_of_hearts": 3.645001444537341e-07,
                "card_holder2": 3.5127775168742034e-07,
                "jack_of_diamonds": 3.5421011529997353e-07
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 144,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1354292929172516,
                0.10758832693099973,
                0.9299553620815277
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              "target_euler": [
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                -0.07687222957611084
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              "joint_target": [
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                0.04475885534509998,
                -2.279579602481445,
                -0.0003399503618364285,
                2.481897755943813,
                -3.592543462571075
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.10400684365732124,
                0.9223579370907026
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              "ee_path_m": 0.7072272063261957,
              "joint_path_rad": 4.706909898720937,
              "native_success": true,
              "simulation_time_s": 16.39999999999706,
              "object_displacement_m": {
                "table": 3.104510318303183e-06,
                "card_holder0": 0.001223491068087097,
                "7_of_hearts": 0.07228948036580964,
                "card_holder1": 3.1647510551709492e-06,
                "3_of_hearts": 3.1647507961056703e-06,
                "card_holder2": 3.057791327235559e-06,
                "jack_of_diamonds": 3.057791114200467e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "7_of_hearts"
              ]
            }
          },
          "steps": 144,
          "simulator_steps": 144,
          "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": 5.707136714016087,
          "ee_path_m": 0.7072272063261957,
          "joint_path_rad": 4.706909898720937,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 72,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 13.77583125399542,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 104
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_4",
          "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": [
              -0.005281386896967888,
              -0.005195701122283958,
              1.0307778108119965
            ],
            "target_euler": [
              3.0172207355499268,
              -0.030824167653918266,
              0.08414876461029053
            ],
            "joint_target": [
              0.2517556390219407,
              -0.28153032781424475,
              -0.22484112943332532,
              -2.5889925857543874,
              -0.12046658452815935,
              2.1874645233747527,
              -3.894757997004907
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.003347637611365896,
              -0.010199665860729054,
              1.0293163335939761
            ],
            "ee_path_m": 1.2680843290799744,
            "joint_path_rad": 6.654808032457805,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 4.306096076464044e-18,
              "card_holder0": 7.656716496459005e-12,
              "king_of_clubs": 1.1541861737581962e-11,
              "card_holder1": 7.6103114679881e-12,
              "king_of_diamonds": 1.1342445827804847e-11,
              "card_holder2": 7.556707143397945e-12,
              "9_of_hearts": 1.1343301410820515e-11
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.10149357467889786,
                0.017888849973678567,
                1.0004327434301377
              ],
              "target_euler": [
                -3.138462781906128,
                -0.03712932765483856,
                -0.44261598587036133
              ],
              "joint_target": [
                0.3128332998567298,
                -0.1569535145786684,
                -0.06748193973784235,
                -2.5827182214875,
                -0.06129447898269335,
                2.404007694668586,
                -3.1931137909060325
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.09968456252847079,
                0.014292236198042985,
                0.9969458107113449
              ],
              "ee_path_m": 0.32163206741420325,
              "joint_path_rad": 1.7568655391603143,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.760251984248625e-18,
                "card_holder0": 2.2970149489377015e-12,
                "king_of_clubs": 3.4625633263574418e-12,
                "card_holder1": 2.2829997832573088e-12,
                "king_of_diamonds": 3.4027141929634017e-12,
                "card_holder2": 2.2670121430193837e-12,
                "9_of_hearts": 3.402980644794746e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
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                  {
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                    "class": "Poker",
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                    "suite": "hearts"
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                  {
                    "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_6",
          "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": [
              -0.01633472554385662,
              0.02729586362838743,
              1.0800396490097046
            ],
            "target_euler": [
              3.035451650619507,
              0.0015344657003879547,
              -0.08157622814178467
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            "joint_target": [
              0.3838846499487745,
              -0.27505666796637923,
              -0.3374644003416076,
              -2.436820228994533,
              -0.08357800425003788,
              2.0699114064862427,
              -3.7394111290212564
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              -0.01239718449054356,
              0.02191857973976141,
              1.0769137307415682
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            "ee_path_m": 1.7429065183616133,
            "joint_path_rad": 13.550146072026555,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.8820135280278929e-06,
              "card_holder0": 1.8437003143091417e-06,
              "king_of_hearts": 1.8437085355061214e-06,
              "card_holder1": 1.8620511242707745e-06,
              "5_of_hearts": 1.8620595548743565e-06,
              "card_holder2": 0.007297894696034401,
              "jack_of_diamonds": 0.052686313849902834
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06945685297250748,
                0.022095119953155495,
                0.9976373600959778
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              "target_euler": [
                -3.1230990886688232,
                -0.03979909420013428,
                -0.6139461994171143
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              "joint_target": [
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                -0.31570874207001404,
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                -0.1498190132568697,
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                -3.354561730786627
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              "ee_position": [
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              "ee_path_m": 0.33498417647867934,
              "joint_path_rad": 1.9276328807784922,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 5.540101434282253e-19,
                "card_holder0": 2.3938202382997497e-12,
                "king_of_hearts": 3.5731368145066417e-12,
                "card_holder1": 2.448947906106182e-12,
                "5_of_hearts": 3.6328913280166972e-12,
                "card_holder2": 2.448947906106182e-12,
                "jack_of_diamonds": 3.621526500264715e-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": [
                0.09821615368127823,
                0.06547067165374754,
                0.8160230207443238
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              "target_euler": [
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                -0.009331170469522476,
                -0.13455849885940552
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              "joint_target": [
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                0.44332099061310987,
                -0.17627333621684027,
                -2.4452056126007964,
                0.26662284045091855,
                2.8883880855083315,
                -4.191300861219078
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              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.09804108646660858,
                0.06458083274762531,
                0.8154477476288228
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              "ee_path_m": 0.5406524514718394,
              "joint_path_rad": 3.4582776798183787,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.5025946967472013e-06,
                "card_holder0": 1.4975654868642762e-06,
                "king_of_hearts": 1.4997870473796592e-06,
                "card_holder1": 1.511795669457387e-06,
                "5_of_hearts": 1.514023677426335e-06,
                "card_holder2": 0.003046131670811794,
                "jack_of_diamonds": 0.026290015555262305
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              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.01633472554385662,
                0.02729586362838743,
                1.0800396490097046
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              "target_euler": [
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                -0.08157622814178467
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              "joint_target": [
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                -0.27505666796637923,
                -0.3374644003416076,
                -2.436820228994533,
                -0.08357800425003788,
                2.0699114064862427,
                -3.7394111290212564
              ],
              "gripper": [
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                0.0
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              "ee_position": [
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                0.02191857973976141,
                1.0769137307415682
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              "ee_path_m": 1.7429065183616133,
              "joint_path_rad": 13.550146072026555,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.8820135280278929e-06,
                "card_holder0": 1.8437003143091417e-06,
                "king_of_hearts": 1.8437085355061214e-06,
                "card_holder1": 1.8620511242707745e-06,
                "5_of_hearts": 1.8620595548743565e-06,
                "card_holder2": 0.007297894696034401,
                "jack_of_diamonds": 0.052686313849902834
              },
              "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": 7.413025196001399,
          "ee_path_m": 1.7429065183616133,
          "joint_path_rad": 13.550146072026555,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "card_holder2",
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 18.538914966979064,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 97
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
                    ],
                    "orientation": [
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                      -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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_7",
          "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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              0.0026560187339782493,
              1.0521498608589173
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            "target_euler": [
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              -0.008187055587768555,
              -0.015939533710479736
            ],
            "joint_target": [
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              -0.26866151912534486,
              0.09099082136657628,
              -2.5288370343661284,
              0.045394965894347473,
              2.180493758634101,
              -3.691555322010508
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            "gripper": [
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              0.0
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            "ee_position": [
              -0.10511658001625153,
              -0.00032697580956478345,
              1.0485484957971076
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            "ee_path_m": 1.0505165221539856,
            "joint_path_rad": 5.683354445832367,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.4824357029237213e-06,
              "card_holder0": 0.00011449689613040694,
              "10_of_spades": 0.05345607876789774,
              "card_holder1": 1.5145282221922724e-06,
              "2_of_diamonds": 1.5145348944009558e-06,
              "card_holder2": 1.4884223900571655e-06,
              "3_of_spades": 1.4884286718031305e-06,
              "card_holder3": 1.5219185496712017e-06,
              "6_of_hearts": 1.5219249617309983e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1276119500398636,
                0.01856509447097776,
                1.0152862060070038
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              "target_euler": [
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                -0.028226474300026894,
                -0.6511858105659485
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              "joint_target": [
                0.2671720163381377,
                -0.1710382328160096,
                0.03924503174232176,
                -2.5554861747956776,
                -0.04444067994563849,
                2.375984787188547,
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              "gripper": [
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              "ee_position": [
                -0.1256325255368151,
                0.015022737854002124,
                1.0116559898509745
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              "ee_path_m": 0.3243623043102077,
              "joint_path_rad": 1.597703544131805,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2677862751971908e-17,
                "card_holder0": 3.181617165483508e-12,
                "10_of_spades": 4.791412026208781e-12,
                "card_holder1": 3.1739808369145446e-12,
                "2_of_diamonds": 4.784281273413882e-12,
                "card_holder2": 3.2189887056018394e-12,
                "3_of_spades": 4.784225972848601e-12,
                "card_holder3": 3.181617165483508e-12,
                "6_of_hearts": 4.802670521935872e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.18854421377182007,
                0.09001479148864744,
                0.8541300135850907
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              "target_euler": [
                -3.1266071796417236,
                -0.011440727859735489,
                -0.09842145442962646
              ],
              "joint_target": [
                0.30774846383218657,
                0.4131779673958899,
                0.05430371863646175,
                -2.3043857639233285,
                -0.09538880634317667,
                2.7237720274363126,
                -3.38498969236035
              ],
              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.18711728279035042,
                0.0857964703572233,
                0.8504029514247737
              ],
              "ee_path_m": 0.5367682711346751,
              "joint_path_rad": 2.8012322115870334,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 7.813307935387214e-09,
                "card_holder0": 3.4370902215045565e-07,
                "10_of_spades": 0.00039660017623964163,
                "card_holder1": 1.1633833741031338e-08,
                "2_of_diamonds": 1.1998003479647759e-08,
                "card_holder2": 1.1023904614975625e-08,
                "3_of_spades": 1.140754396497746e-08,
                "card_holder3": 1.0595546425704254e-08,
                "6_of_hearts": 1.0996543902464741e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.10560373961925507,
                0.0026560187339782493,
                1.0521498608589173
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              "target_euler": [
                3.060725688934326,
                -0.008187055587768555,
                -0.015939533710479736
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              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.4824357029237213e-06,
                "card_holder0": 0.00011449689613040694,
                "10_of_spades": 0.05345607876789774,
                "card_holder1": 1.5145282221922724e-06,
                "2_of_diamonds": 1.5145348944009558e-06,
                "card_holder2": 1.4884223900571655e-06,
                "3_of_spades": 1.4884286718031305e-06,
                "card_holder3": 1.5219185496712017e-06,
                "6_of_hearts": 1.5219249617309983e-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": 7.72288081998704,
          "ee_path_m": 1.0505165221539856,
          "joint_path_rad": 5.683354445832367,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
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          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 16.300968438998098,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 115
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": [
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                      0.09267394776934215,
                      0.7659989981733321
                    ],
                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_8",
          "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": 160,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.07291021943092346,
              0.17845366001129148,
              0.902691422700882
            ],
            "target_euler": [
              3.0765624046325684,
              -0.012027658522129059,
              0.010385394096374512
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            "joint_target": [
              -0.07637899985817988,
              0.45198040233533393,
              0.2067752360210299,
              -2.045322043892433,
              -0.14386645450013422,
              2.417549644247864,
              -3.713429344148874
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              -0.07239322225573408,
              0.1742307425657004,
              0.8943453672542783
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            "ee_path_m": 0.7956947599353721,
            "joint_path_rad": 5.307119501757866,
            "native_success": true,
            "simulation_time_s": 17.999999999999016,
            "object_displacement_m": {
              "table": 3.1171997027771523e-06,
              "card_holder0": 3.181037832788423e-06,
              "4_of_hearts": 3.1810679284634368e-06,
              "card_holder1": 0.01861985642450073,
              "5_of_hearts": 0.07154134880016787,
              "card_holder2": 3.0973071324926488e-06,
              "ace_of_spades": 3.097337097390733e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "5_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "target_position_world": [
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                0.05921620726585386,
                1.0715322184562683
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              "target_euler": [
                -3.022880792617798,
                -0.04813022539019585,
                -1.1674716472625732
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              "joint_target": [
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                -0.18798759181660893,
                0.09115928877009521,
                -2.4074897686851338,
                -0.13595621989182005,
                2.1987667198101377,
                -2.5281162402163933
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              "gripper": [
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              "ee_position": [
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                0.055907768508525926,
                1.0671428706016979
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              "ee_path_m": 0.34999175792708337,
              "joint_path_rad": 1.705334908204231,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.1425165980708874e-18,
                "card_holder0": 3.0718538955360006e-12,
                "4_of_hearts": 4.555778253086856e-12,
                "card_holder1": 3.0073419216667003e-12,
                "5_of_hearts": 4.5596645893006605e-12,
                "card_holder2": 3.045674276630199e-12,
                "ace_of_spades": 4.550780318562973e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07382968068122864,
                0.17600700855255125,
                0.9599209415912628
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              "target_euler": [
                -3.040855884552002,
                -0.014999598264694214,
                -0.38577795028686523
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              "joint_target": [
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                0.2849563819189202,
                0.1258137112835894,
                -2.159492287009478,
                -0.1677325189438732,
                2.5161335784046086,
                -3.279578175213894
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              "gripper": [
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                0.04
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              "ee_position": [
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                0.17090380273270397,
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              "ee_path_m": 0.5503680981847192,
              "joint_path_rad": 3.6241197411242636,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 3.7553734681416895e-19,
                "card_holder0": 5.119756492560001e-12,
                "4_of_hearts": 7.593834195388759e-12,
                "card_holder1": 5.012384649549561e-12,
                "5_of_hearts": 7.59529857627549e-12,
                "card_holder2": 5.076116048065315e-12,
                "ace_of_spades": 7.584415396712055e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 160,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07291021943092346,
                0.17845366001129148,
                0.902691422700882
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              "target_euler": [
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                0.010385394096374512
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              "joint_target": [
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                -0.14386645450013422,
                2.417549644247864,
                -3.713429344148874
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                0.0
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                0.8943453672542783
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              "ee_path_m": 0.7956947599353721,
              "joint_path_rad": 5.307119501757866,
              "native_success": true,
              "simulation_time_s": 17.999999999999016,
              "object_displacement_m": {
                "table": 3.1171997027771523e-06,
                "card_holder0": 3.181037832788423e-06,
                "4_of_hearts": 3.1810679284634368e-06,
                "card_holder1": 0.01861985642450073,
                "5_of_hearts": 0.07154134880016787,
                "card_holder2": 3.0973071324926488e-06,
                "ace_of_spades": 3.097337097390733e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_of_hearts"
              ]
            }
          },
          "steps": 160,
          "simulator_steps": 160,
          "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": 6.286127304978436,
          "ee_path_m": 0.7956947599353721,
          "joint_path_rad": 5.307119501757866,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 80,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 14.45850638000411,
          "compiled_physics_parameters_sha256": "ab979cfde646a33464a5d287550dfcd2e0178b18c2351c82b11e7559780e5951",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 124
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      5.203463978305751e-13,
                      -1.21887868662231e-12,
                      -7.789010667117315e-07
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                    "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
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "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,
                      0.17561605557111643,
                      0.7659989971508677
                    ],
                    "orientation": [
                      0.707106781186547,
                      -7.045942605540012e-09,
                      2.8312771686000086e-09,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06537053421849995,
                      0.17561598391950844,
                      0.8309988946848395
                    ],
                    "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
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_9",
          "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": 142,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.049312517046928406,
              0.16285393238067625,
              0.9309374529123307
            ],
            "target_euler": [
              3.061232566833496,
              -0.009316731244325638,
              -0.06830984354019165
            ],
            "joint_target": [
              0.1304211860615913,
              0.35020280929507064,
              -0.04359167393687344,
              -2.1034245674223935,
              0.02628109404918587,
              2.372308713418251,
              -3.789857168218171
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.04889193528364842,
              0.15876615908369635,
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                    "position": [
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                      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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_1",
          "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": [
              -0.07098719477653503,
              0.03133011460304258,
              1.0681965935230255
            ],
            "target_euler": [
              3.102686643600464,
              -0.034544870257377625,
              -0.08020436763763428
            ],
            "joint_target": [
              0.49060003316367257,
              -0.2576923454164625,
              -0.31199508953932725,
              -2.4671300234509883,
              -0.1227516149221319,
              2.1709500729450792,
              -3.584860570864516
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.06810614598586487,
              0.028782672416803518,
              1.063501995639709
            ],
            "ee_path_m": 1.2767785178140167,
            "joint_path_rad": 7.140813033783071,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.7320008577792827e-06,
              "card_holder0": 1.6823690463341119e-06,
              "2_of_hearts": 1.6823650050698323e-06,
              "card_holder1": 1.7131555829239977e-06,
              "5_of_hearts": 0.11205456969155858,
              "card_holder2": 0.001121629091071725,
              "8_of_clubs": 0.15605370048521638,
              "card_holder3": 1.7644181410675677e-06,
              "queen_of_diamonds": 1.7644142342964731e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.0823659747838974,
                0.022987282276153542,
                0.9719259577989579
              ],
              "target_euler": [
                -3.1036767959594727,
                -0.03436462581157684,
                -0.3783697485923767
              ],
              "joint_target": [
                0.27542323888733733,
                -0.11763687927146449,
                -0.47232041654558216,
                -2.6325500483053075,
                -0.16980895407090268,
                2.5521661169140075,
                -3.60488377631888
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.08109089941556374,
                0.018514756261373153,
                0.9693492739863263
              ],
              "ee_path_m": 0.34372872725161807,
              "joint_path_rad": 2.218373792082677,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.3972724021691014e-17,
                "card_holder0": 3.83026943495679e-12,
                "2_of_hearts": 5.778350020690937e-12,
                "card_holder1": 3.913757609599118e-12,
                "5_of_hearts": 5.770492728763609e-12,
                "card_holder2": 3.8719027983802334e-12,
                "8_of_clubs": 5.778687672854285e-12,
                "card_holder3": 3.913536161803677e-12,
                "queen_of_diamonds": 5.770300903762404e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.10657785087823868,
                0.04291061162948606,
                0.8284108477830887
              ],
              "target_euler": [
                3.126622438430786,
                -0.02676403522491455,
                -0.13964217901229858
              ],
              "joint_target": [
                0.14679395232197295,
                0.39082809563987553,
                -0.3125720431357116,
                -2.501989551197014,
                0.3166245145025301,
                2.8468520908977353,
                -4.236863545727789
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.10592191907918477,
                0.039301868280045324,
                0.8243258128049109
              ],
              "ee_path_m": 0.5208417402743867,
              "joint_path_rad": 3.665508220179959,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.7319844419632479e-06,
                "card_holder0": 1.6823574771007327e-06,
                "2_of_hearts": 1.6823576670048588e-06,
                "card_holder1": 1.7131730657000913e-06,
                "5_of_hearts": 0.02482468041075305,
                "card_holder2": 0.0011216290808839303,
                "8_of_clubs": 0.1559328258149238,
                "card_holder3": 1.7644112047093545e-06,
                "queen_of_diamonds": 1.7644115066090072e-06
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07098719477653503,
                0.03133011460304258,
                1.0681965935230255
              ],
              "target_euler": [
                3.102686643600464,
                -0.034544870257377625,
                -0.08020436763763428
              ],
              "joint_target": [
                0.49060003316367257,
                -0.2576923454164625,
                -0.31199508953932725,
                -2.4671300234509883,
                -0.1227516149221319,
                2.1709500729450792,
                -3.584860570864516
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.06810614598586487,
                0.028782672416803518,
                1.063501995639709
              ],
              "ee_path_m": 1.2767785178140167,
              "joint_path_rad": 7.140813033783071,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.7320008577792827e-06,
                "card_holder0": 1.6823690463341119e-06,
                "2_of_hearts": 1.6823650050698323e-06,
                "card_holder1": 1.7131555829239977e-06,
                "5_of_hearts": 0.11205456969155858,
                "card_holder2": 0.001121629091071725,
                "8_of_clubs": 0.15605370048521638,
                "card_holder3": 1.7644181410675677e-06,
                "queen_of_diamonds": 1.7644142342964731e-06
              },
              "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": 7.556741081003565,
          "ee_path_m": 1.2767785178140167,
          "joint_path_rad": 7.140813033783071,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 16.163883005006937,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 92
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_2",
          "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": 151,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.1822117418050766,
              0.14170447587966917,
              0.9355176973342896
            ],
            "target_euler": [
              3.1115975379943848,
              -0.006989870220422745,
              -0.056923627853393555
            ],
            "joint_target": [
              -0.04942624303829427,
              0.3514053109519775,
              -0.2748576230981218,
              -2.119178253949422,
              0.12119873939828688,
              2.4273677960584155,
              -4.273143248080855
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.181614092875222,
              0.1378369745661322,
              0.9246660686133258
            ],
            "ee_path_m": 0.7441761716264729,
            "joint_path_rad": 4.523798911664345,
            "native_success": true,
            "simulation_time_s": 17.099999999997916,
            "object_displacement_m": {
              "table": 4.828179755222384e-06,
              "card_holder0": 4.520249403330916e-06,
              "4_of_diamonds": 4.520250758178359e-06,
              "card_holder1": 4.738887343966536e-06,
              "9_of_spades": 4.738888702748701e-06,
              "card_holder2": 4.915203708312568e-06,
              "8_of_hearts": 4.915205011525014e-06,
              "card_holder3": 0.001510901705005692,
              "4_of_hearts": 0.07421074822991927
            },
            "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": [
                0.10362515598535538,
                0.044771498441696145,
                1.0291021156311035
              ],
              "target_euler": [
                -3.1110165119171143,
                -0.0395316556096077,
                -0.8059881925582886
              ],
              "joint_target": [
                0.0905112989365761,
                -0.1533898311892234,
                -0.30639500490229515,
                -2.4885533177306955,
                -0.13389401538151294,
                2.341015840332298,
                -3.241624948371385
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.10211041686275417,
                0.040515940504950755,
                1.0254391381043524
              ],
              "ee_path_m": 0.349041366206381,
              "joint_path_rad": 1.8846757349247443,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.811739911661363e-18,
                "card_holder0": 2.3551386880256624e-12,
                "4_of_diamonds": 3.552738825263014e-12,
                "card_holder1": 2.3613862386285653e-12,
                "9_of_spades": 3.5454420825937364e-12,
                "card_holder2": 2.3683492922357093e-12,
                "8_of_hearts": 3.5454420825937364e-12,
                "card_holder3": 2.3551386880256624e-12,
                "4_of_hearts": 3.552763269970177e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.18737952411174774,
                0.14353260993957517,
                0.9001918572187424
              ],
              "target_euler": [
                -3.120704412460327,
                -0.02090751938521862,
                -0.1121072769165039
              ],
              "joint_target": [
                -0.059429311323799514,
                0.41831829025339573,
                -0.26403861373685567,
                -2.1461638331655943,
                0.16614257064737903,
                2.569817627040889,
                -4.255208668059017
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.18589413624331622,
                0.13906827236044986,
                0.8949449612129255
              ],
              "ee_path_m": 0.549433900324906,
              "joint_path_rad": 3.3415586930355077,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 5.936846667016201e-18,
                "card_holder0": 3.925231146709438e-12,
                "4_of_diamonds": 5.915071283392772e-12,
                "card_holder1": 3.935643731047609e-12,
                "9_of_spades": 5.909070137656228e-12,
                "card_holder2": 3.947248820392849e-12,
                "8_of_hearts": 5.909070137656228e-12,
                "card_holder3": 3.925231146709438e-12,
                "4_of_hearts": 5.915090190915291e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 151,
              "substeps": 1,
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                0.14170447587966917,
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              "object_displacement_m": {
                "table": 4.828179755222384e-06,
                "card_holder0": 4.520249403330916e-06,
                "4_of_diamonds": 4.520250758178359e-06,
                "card_holder1": 4.738887343966536e-06,
                "9_of_spades": 4.738888702748701e-06,
                "card_holder2": 4.915203708312568e-06,
                "8_of_hearts": 4.915205011525014e-06,
                "card_holder3": 0.001510901705005692,
                "4_of_hearts": 0.07421074822991927
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_hearts"
              ]
            }
          },
          "steps": 151,
          "simulator_steps": 151,
          "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": 6.194350740988739,
          "ee_path_m": 0.7441761716264729,
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          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 76,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 14.846156126004644,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 117
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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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                      0.1194440192388725,
                      0.7659989982546671
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                    "orientation": [
                      0.7071067811865464,
                      -4.641352680417562e-09,
                      1.5715111343539685e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_3",
          "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": [
              -0.11937189847230911,
              -0.0123088598251343,
              1.1176023769378662
            ],
            "target_euler": [
              3.1244418621063232,
              -0.0034758709371089935,
              -0.1412423849105835
            ],
            "joint_target": [
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              -0.42355354999555617,
              0.08460689017491999,
              -2.5040592322659125,
              0.043879174937203044,
              2.0643740258220573,
              -3.523392328279217
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              -0.1171365681323413,
              -0.012930648342281234,
              1.1123450029760804
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            "ee_path_m": 1.088434889362865,
            "joint_path_rad": 6.022042528828184,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.0369498329705073e-06,
              "card_holder0": 0.003563480947023498,
              "7_of_hearts": 0.04235426518598935,
              "card_holder1": 2.0780233566878728e-06,
              "3_of_hearts": 2.078025187485755e-06,
              "card_holder2": 2.00255924496657e-06,
              "jack_of_diamonds": 2.002561046466588e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "target_position_world": [
                -0.10496256500482559,
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                0.9989359068870545
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              "target_euler": [
                -3.1502389907836914,
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                -0.6078624129295349
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              "joint_target": [
                0.2704166054901141,
                -0.09426917465425758,
                -0.03208425398989497,
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                -0.020898653018585806,
                2.3956508568728094,
                -3.065764708600566
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              "gripper": [
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                0.04
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              "ee_position": [
                -0.10441517077896216,
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                0.9954571083293035
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              "ee_path_m": 0.3392326904974496,
              "joint_path_rad": 1.8258623300615946,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.997118889824149e-19,
                "card_holder0": 3.0537440611031886e-12,
                "7_of_hearts": 4.563278801616858e-12,
                "card_holder1": 3.0537440611031886e-12,
                "3_of_hearts": 4.555301897673025e-12,
                "card_holder2": 3.077942043395147e-12,
                "jack_of_diamonds": 4.567433841277241e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1482793688774109,
                0.10601184368133543,
                0.8401756423711777
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              "target_euler": [
                -3.123072385787964,
                -0.018505502492189407,
                -0.19208890199661255
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              "joint_target": [
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                0.452524917339687,
                -0.010378853902733213,
                -2.289291933162553,
                -0.053419328493979346,
                2.7492011072352467,
                -3.3988563383415764
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
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                0.10851274789610724,
                0.8431853630087109
              ],
              "ee_path_m": 0.5434665728466669,
              "joint_path_rad": 3.0112069581982044,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.5202903011751723e-07,
                "card_holder0": 1.930371616668936e-05,
                "7_of_hearts": 0.007934147558981565,
                "card_holder1": 2.804892021042314e-07,
                "3_of_hearts": 2.824253843603821e-07,
                "card_holder2": 2.710064592129308e-07,
                "jack_of_diamonds": 2.729881336700478e-07
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.11937189847230911,
                -0.0123088598251343,
                1.1176023769378662
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              "target_euler": [
                3.1244418621063232,
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                -0.1412423849105835
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              "joint_target": [
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                0.08460689017491999,
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                0.043879174937203044,
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                -3.523392328279217
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
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                -0.012930648342281234,
                1.1123450029760804
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              "ee_path_m": 1.088434889362865,
              "joint_path_rad": 6.022042528828184,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.0369498329705073e-06,
                "card_holder0": 0.003563480947023498,
                "7_of_hearts": 0.04235426518598935,
                "card_holder1": 2.0780233566878728e-06,
                "3_of_hearts": 2.078025187485755e-06,
                "card_holder2": 2.00255924496657e-06,
                "jack_of_diamonds": 2.002561046466588e-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": 7.370667234994471,
          "ee_path_m": 1.088434889362865,
          "joint_path_rad": 6.022042528828184,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 15.348724051989848,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 104
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
                      -4.4897256357510424e-13,
                      -7.789010678285046e-07
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                    "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
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                    "orientation": [
                      0.7071067811865475,
                      -3.6591953290127157e-09,
                      -2.0614878104259223e-11,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "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": "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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_4",
          "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,
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          "ever_grasped_objects": [
            "card_holder3",
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 18.17445922200568,
          "compiled_physics_parameters_sha256": "61005b74323be9118d9e2739393e834c089c5cdbb6eeaaaedfe68eab36ff1f40",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 101
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_6",
          "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": 143,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.0796760618686676,
              0.058296209573745705,
              0.9257621902227402
            ],
            "target_euler": [
              3.067054033279419,
              -0.008421678096055984,
              -0.12326627969741821
            ],
            "joint_target": [
              0.10032586278874617,
              0.13010391805739502,
              -0.26391423208607023,
              -2.466791421842102,
              0.0384670615738918,
              2.5179156093417223,
              -3.998985279894425
            ],
            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              0.08019196965637676,
              0.0548307392899261,
              0.9176152881239372
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            "ee_path_m": 0.7059309996974008,
            "joint_path_rad": 4.294708863621529,
            "native_success": true,
            "simulation_time_s": 16.29999999999694,
            "object_displacement_m": {
              "table": 4.128241177863307e-06,
              "card_holder0": 4.040903953179105e-06,
              "king_of_hearts": 4.040934899520359e-06,
              "card_holder1": 4.0925619368115435e-06,
              "5_of_hearts": 4.092592841172662e-06,
              "card_holder2": 0.017384217080699583,
              "jack_of_diamonds": 0.07547110032181922
            },
            "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": [
                0.0546286478638649,
                0.029210752248764016,
                0.9914704102277756
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              "target_euler": [
                -3.126859188079834,
                -0.04026877507567406,
                -0.6065506339073181
              ],
              "joint_target": [
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                -0.13972393564515345,
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                -3.344810142900583
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              "gripper": [
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                0.04
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              "ee_position": [
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              "ee_path_m": 0.3551823170959188,
              "joint_path_rad": 2.0167727532577104,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.618061655363363e-19,
                "card_holder0": 2.393856990022778e-12,
                "king_of_hearts": 3.57313753352832e-12,
                "card_holder1": 2.448947906106182e-12,
                "5_of_hearts": 3.633983269789931e-12,
                "card_holder2": 2.448947906106182e-12,
                "jack_of_diamonds": 3.621889903496363e-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": [
                0.08449548482894897,
                0.0616768956184387,
                0.8224139052629471
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              "target_euler": [
                3.1075539588928223,
                -0.014805957674980164,
                -0.21095070242881775
              ],
              "joint_target": [
                0.04389199002464061,
                0.41643267534708983,
                -0.18541839586262912,
                -2.4450317449487353,
                0.19604089202458638,
                2.814027148815799,
                -4.03086151139729
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              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.0843946362998232,
                0.06406769177846237,
                0.8232592519715887
              ],
              "ee_path_m": 0.5490383125358355,
              "joint_path_rad": 3.37872229510658,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.8255016918367534e-06,
                "card_holder0": 1.8283691722315959e-06,
                "king_of_hearts": 1.8318399589450494e-06,
                "card_holder1": 1.8504998301148883e-06,
                "5_of_hearts": 1.8539741770378073e-06,
                "card_holder2": 0.000779380065947057,
                "jack_of_diamonds": 0.0235079758768974
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "200": {
              "step": 143,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.0796760618686676,
                0.058296209573745705,
                0.9257621902227402
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              "target_euler": [
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                -0.008421678096055984,
                -0.12326627969741821
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              "joint_target": [
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                0.13010391805739502,
                -0.26391423208607023,
                -2.466791421842102,
                0.0384670615738918,
                2.5179156093417223,
                -3.998985279894425
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
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                0.0548307392899261,
                0.9176152881239372
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              "ee_path_m": 0.7059309996974008,
              "joint_path_rad": 4.294708863621529,
              "native_success": true,
              "simulation_time_s": 16.29999999999694,
              "object_displacement_m": {
                "table": 4.128241177863307e-06,
                "card_holder0": 4.040903953179105e-06,
                "king_of_hearts": 4.040934899520359e-06,
                "card_holder1": 4.0925619368115435e-06,
                "5_of_hearts": 4.092592841172662e-06,
                "card_holder2": 0.017384217080699583,
                "jack_of_diamonds": 0.07547110032181922
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            }
          },
          "steps": 143,
          "simulator_steps": 143,
          "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": 5.616349978983635,
          "ee_path_m": 0.7059309996974008,
          "joint_path_rad": 4.294708863621529,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "card_holder2",
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 72,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 13.834881547983969,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 97
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_7",
          "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": [
              -0.15876609086990356,
              -0.0390902101993561,
              1.0781798946857453
            ],
            "target_euler": [
              3.1720097064971924,
              -0.010603897273540497,
              -0.12893211841583252
            ],
            "joint_target": [
              0.265954436278811,
              -0.43672373766663797,
              0.15555998925236772,
              -2.62842513922061,
              0.05126021898715843,
              2.2164794049693297,
              -3.4216565236445144
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.15653933728614403,
              -0.03965458761618036,
              1.0729910376536471
            ],
            "ee_path_m": 1.0476599953766748,
            "joint_path_rad": 5.593648988808482,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.568172017683697e-06,
              "card_holder0": 0.008298053554152153,
              "10_of_spades": 0.05645217717192381,
              "card_holder1": 2.6414690840867943e-06,
              "2_of_diamonds": 2.6414778807904883e-06,
              "card_holder2": 2.531606245176322e-06,
              "3_of_spades": 2.531615051581127e-06,
              "card_holder3": 2.455648305661626e-06,
              "6_of_hearts": 2.4556566489840883e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.13709388673305511,
                0.0233320355415344,
                1.008810653090477
              ],
              "target_euler": [
                -3.126868963241577,
                -0.026612577959895134,
                -0.6482839584350586
              ],
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                    "class": "Poker",
                    "value": "10",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
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                    "robot": "franka"
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        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_toy",
            "seed": 42,
            "track_index": 0,
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                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                    "materials": [
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                },
                "target_entity": [
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                "target_container": "giftbox_seen"
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          },
          "policy_seed": 47,
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                      -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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_1",
          "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": [
              0.16023999452590942,
              0.08783230781555174,
              0.9466353344917298
            ],
            "target_euler": [
              2.989804267883301,
              -0.07120883464813232,
              0.1278603971004486
            ],
            "joint_target": [
              0.17957405698090784,
              0.23205517892125482,
              -0.46854844453894706,
              -2.2684575126069455,
              -0.03044691066521855,
              2.364728819930367,
              -4.311245375628507
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.1595469645403683,
              0.08421157544151334,
              0.9416316857105791
            ],
            "ee_path_m": 0.7349780741103689,
            "joint_path_rad": 5.003713838411116,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 4.11011955108225e-06,
              "card_holder0": 3.9459955454280695e-06,
              "2_of_hearts": 3.945995891802203e-06,
              "card_holder1": 4.0650874795676606e-06,
              "5_of_hearts": 4.065088002423664e-06,
              "card_holder2": 4.205482371879026e-06,
              "8_of_clubs": 4.2054828542229e-06,
              "card_holder3": 0.0029622067922760293,
              "queen_of_diamonds": 0.09195668754240675
            },
            "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": [
                0.11954215168952942,
                -0.016262406110763572,
                1.0593845534324646
              ],
              "target_euler": [
                -3.1160013675689697,
                -0.07165322452783585,
                -0.7363877296447754
              ],
              "joint_target": [
                0.10706918897524338,
                -0.3868744843784364,
                -0.3808723807272581,
                -2.60699054349256,
                -0.27160868632395174,
                2.2161911450929703,
                -3.2723978254028396
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.11870569853138489,
                -0.019815536993345297,
                1.0566268540176282
              ],
              "ee_path_m": 0.3083164473888082,
              "joint_path_rad": 1.8005456945569118,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.3356726856656055e-17,
                "card_holder0": 3.83026943495679e-12,
                "2_of_hearts": 5.7788773766276336e-12,
                "card_holder1": 3.913757609599118e-12,
                "5_of_hearts": 5.770353954497662e-12,
                "card_holder2": 3.8719027983802334e-12,
                "8_of_clubs": 5.778438045085978e-12,
                "card_holder3": 3.913536161803677e-12,
                "queen_of_diamonds": 5.7702870259745964e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.1600072681903839,
                0.08689123988151548,
                0.9025252225995064
              ],
              "target_euler": [
                -3.2267842292785645,
                -0.07302232831716537,
                0.09181176871061325
              ],
              "joint_target": [
                0.14280782401297706,
                0.3100661978207479,
                -0.42905991777193303,
                -2.3211430515307163,
                0.05182382810948276,
                2.5500221980058737,
                -4.331797470624119
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.15913235398733053,
                0.08283290545628454,
                0.8991408586262719
              ],
              "ee_path_m": 0.5188686100623828,
              "joint_path_rad": 3.588027888705743,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 6.035778988423921e-17,
                "card_holder0": 6.38378239159465e-12,
                "2_of_hearts": 9.63146229437939e-12,
                "card_holder1": 6.5229293493318634e-12,
                "5_of_hearts": 9.617432371566276e-12,
                "card_holder2": 6.453171330633722e-12,
                "8_of_clubs": 9.63077702156665e-12,
                "card_holder3": 6.522560269672795e-12,
                "queen_of_diamonds": 9.61723756187638e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.16023999452590942,
                0.08783230781555174,
                0.9466353344917298
              ],
              "target_euler": [
                2.989804267883301,
                -0.07120883464813232,
                0.1278603971004486
              ],
              "joint_target": [
                0.17957405698090784,
                0.23205517892125482,
                -0.46854844453894706,
                -2.2684575126069455,
                -0.03044691066521855,
                2.364728819930367,
                -4.311245375628507
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.1595469645403683,
                0.08421157544151334,
                0.9416316857105791
              ],
              "ee_path_m": 0.7349780741103689,
              "joint_path_rad": 5.003713838411116,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 4.11011955108225e-06,
                "card_holder0": 3.9459955454280695e-06,
                "2_of_hearts": 3.945995891802203e-06,
                "card_holder1": 4.0650874795676606e-06,
                "5_of_hearts": 4.065088002423664e-06,
                "card_holder2": 4.205482371879026e-06,
                "8_of_clubs": 4.2054828542229e-06,
                "card_holder3": 0.0029622067922760293,
                "queen_of_diamonds": 0.09195668754240675
              },
              "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": 9.086879442998907,
          "ee_path_m": 0.7349780741103689,
          "joint_path_rad": 5.003713838411116,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 17.794102612009738,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_2",
          "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": [
              -0.229816734790802,
              0.02500355839729307,
              0.9357705104351044
            ],
            "target_euler": [
              3.0730295181274414,
              -0.09572333842515945,
              0.00920525100082159
            ],
            "joint_target": [
              0.37596279779763836,
              0.15649806804456445,
              0.12934070485466773,
              -2.3796040159740377,
              -0.1091077311481355,
              2.425878474586011,
              -3.3426315772598145
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.22801665499544188,
              0.021653966242183985,
              0.9308213561735346
            ],
            "ee_path_m": 0.6883728254387085,
            "joint_path_rad": 3.8236687527961366,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.8127543268802024e-06,
              "card_holder0": 0.0021697096282660036,
              "4_of_diamonds": 0.08169009193188506,
              "card_holder1": 2.8635342266547608e-06,
              "9_of_spades": 2.863535036724577e-06,
              "card_holder2": 2.74211691318109e-06,
              "8_of_hearts": 2.742117645177881e-06,
              "card_holder3": 2.6051623583559822e-06,
              "4_of_hearts": 2.605163189232194e-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": [
                -0.16544105112552643,
                -0.0364707946777344,
                1.0631361889839173
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                      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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_4",
          "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": [
              -0.10215839743614197,
              -0.00903093218803408,
              0.9596802282333374
            ],
            "target_euler": [
              3.114849328994751,
              -0.05816173553466797,
              0.7236617207527161
            ],
            "joint_target": [
              0.43985677385403044,
              -0.13946488108731275,
              -0.18029162996135703,
              -2.7040328369999793,
              -0.16302595111975224,
              2.5627517407103917,
              -4.252678879632604
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.10112450305398704,
              -0.01213068596878324,
              0.9560284997899917
            ],
            "ee_path_m": 0.8579416928071464,
            "joint_path_rad": 6.4408845246905635,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.0104726094838745e-06,
              "card_holder0": 1.0295437888208193e-06,
              "king_of_clubs": 0.06232663134049423,
              "card_holder1": 1.0690826707533292e-06,
              "king_of_diamonds": 0.0021995794150776495,
              "card_holder2": 9.97769652173606e-07,
              "9_of_hearts": 9.977670011151387e-07
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.11432314664125443,
                -0.004272931814193748,
                1.0404746222496033
              ],
              "target_euler": [
                -3.0996100902557373,
                -0.07620536535978317,
                -0.6511097550392151
              ],
              "joint_target": [
                0.322229827466907,
                -0.28211962376246574,
                -0.016169681087223473,
                -2.58679467626509,
                -0.10757026632726423,
                2.263712447635175,
                -2.901043512720083
              ],
              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.11281943319122122,
                -0.007832627213016672,
                1.0373711605442208
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              "ee_path_m": 0.3663094526134513,
              "joint_path_rad": 2.1387645784382676,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.3689912442615926e-18,
                "card_holder0": 2.2970149489377015e-12,
                "king_of_clubs": 3.4626786505170153e-12,
                "card_holder1": 2.282975394022712e-12,
                "king_of_diamonds": 3.402704415317131e-12,
                "card_holder2": 2.2670121430193837e-12,
                "9_of_hearts": 3.403078430591165e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.12811610102653503,
                0.024943000078201272,
                0.8773275974392891
              ],
              "target_euler": [
                -3.1697394847869873,
                -0.09202047437429428,
                0.14842930436134338
              ],
              "joint_target": [
                0.31828150814477707,
                0.20283030498708818,
                -0.02082990467258508,
                -2.5521940438474617,
                -0.1967726926176417,
                2.705983265500738,
                -3.5966053291908375
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.12686251344013424,
                0.021205277890782064,
                0.8746330493991046
              ],
              "ee_path_m": 0.5505368813164412,
              "joint_path_rad": 3.4599404665739444,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.0569733399253853e-18,
                "card_holder0": 3.8283582482295026e-12,
                "king_of_clubs": 5.7710509971288e-12,
                "card_holder1": 3.805126465638858e-12,
                "king_of_diamonds": 5.671200914081271e-12,
                "card_holder2": 3.7783535716989726e-12,
                "9_of_hearts": 5.6717289336826494e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.10215839743614197,
                -0.00903093218803408,
                0.9596802282333374
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              "target_euler": [
                3.114849328994751,
                -0.05816173553466797,
                0.7236617207527161
              ],
              "joint_target": [
                0.43985677385403044,
                -0.13946488108731275,
                -0.18029162996135703,
                -2.7040328369999793,
                -0.16302595111975224,
                2.5627517407103917,
                -4.252678879632604
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.10112450305398704,
                -0.01213068596878324,
                0.9560284997899917
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              "ee_path_m": 0.8579416928071464,
              "joint_path_rad": 6.4408845246905635,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.0104726094838745e-06,
                "card_holder0": 1.0295437888208193e-06,
                "king_of_clubs": 0.06232663134049423,
                "card_holder1": 1.0690826707533292e-06,
                "king_of_diamonds": 0.0021995794150776495,
                "card_holder2": 9.97769652173606e-07,
                "9_of_hearts": 9.977670011151387e-07
              },
              "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": 8.623942381993402,
          "ee_path_m": 0.8579416928071464,
          "joint_path_rad": 6.4408845246905635,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 17.524714950995985,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_5",
          "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": [
              0.4548514187335968,
              -0.24933410584926607,
              0.8589279639720917
            ],
            "target_euler": [
              -3.156223773956299,
              0.3285650908946991,
              1.645323634147644
            ],
            "joint_target": [
              0.5824526383500008,
              -1.825387933901297,
              -1.5904580082130941,
              -2.2959713144384444,
              -1.915189462823053,
              1.1163468368363598,
              -5.8942719763028135
            ],
            "gripper": [
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              0.04
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            "ee_position": [
              0.45289528076135643,
              -0.24950032735822164,
              0.8561955532330778
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            "ee_path_m": 1.3899759262870617,
            "joint_path_rad": 12.5219920908062,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.3768359087172672e-05,
              "card_holder0": 1.0434663230225656e-05,
              "queen_of_spades": 1.0439096494998337e-05,
              "card_holder1": 1.1704876355132124e-05,
              "2_of_hearts": 1.1708307989573473e-05,
              "card_holder2": 1.2979559129653156e-05,
              "6_of_clubs": 1.299047545940983e-05,
              "card_holder3": 1.523606925064776e-05,
              "jack_of_diamonds": 1.5237733635766123e-05
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.35627615451812744,
                -0.16746971905231478,
                0.9509464490413666
              ],
              "target_euler": [
                -0.7747243642807007,
                -0.24080312252044678,
                -0.5201349854469299
              ],
              "joint_target": [
                0.19120384971610027,
                -2.5063777507979377,
                -2.146021182445796,
                -1.947618801755281,
                -3.0220594925127453,
                3.999996702256006,
                -3.6906921547641276
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.43720255604560365,
                -0.3838366831249844,
                0.7753807253509222
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              "ee_path_m": 0.9207566183028096,
              "joint_path_rad": 6.834052381514385,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.3559019901519208e-05,
                "card_holder0": 1.0912507521894355e-05,
                "queen_of_spades": 1.0970365379613648e-05,
                "card_holder1": 1.2104461687363207e-05,
                "2_of_hearts": 1.2157449431095513e-05,
                "card_holder2": 1.332012114507632e-05,
                "6_of_clubs": 1.3378395713783704e-05,
                "card_holder3": 1.5521919220664358e-05,
                "jack_of_diamonds": 1.556924293878507e-05
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.43921202421188354,
                -0.3533074088394642,
                0.8716736721992493
              ],
              "target_euler": [
                2.9595882892608643,
                0.6311620473861694,
                0.1262257844209671
              ],
              "joint_target": [
                0.5150907811726615,
                -1.8427001757393449,
                -1.518413689489443,
                -1.9877844791216666,
                -1.4213105716054342,
                0.8548169541821505,
                -4.609196687900295
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.43730555064819443,
                -0.352358658584054,
                0.8665559341837316
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              "ee_path_m": 1.1122661151505424,
              "joint_path_rad": 9.306737264038736,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.3768359087176683e-05,
                "card_holder0": 1.0434659239022138e-05,
                "queen_of_spades": 1.0439090675637015e-05,
                "card_holder1": 1.1704871794563296e-05,
                "2_of_hearts": 1.1708301184852812e-05,
                "card_holder2": 1.2979554223330805e-05,
                "6_of_clubs": 1.2990468146041297e-05,
                "card_holder3": 1.5236064190736918e-05,
                "jack_of_diamonds": 1.5237726185597424e-05
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
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              "object_displacement_m": {
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                "card_holder0": 1.0434663230225656e-05,
                "queen_of_spades": 1.0439096494998337e-05,
                "card_holder1": 1.1704876355132124e-05,
                "2_of_hearts": 1.1708307989573473e-05,
                "card_holder2": 1.2979559129653156e-05,
                "6_of_clubs": 1.299047545940983e-05,
                "card_holder3": 1.523606925064776e-05,
                "jack_of_diamonds": 1.5237733635766123e-05
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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": [
            "jack_of_diamonds"
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          "alternative_entity": null,
          "original_entity": [
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          "initial_physics_sha256": "3f877b9d0aa4fce89fea983af27077a9d496f88b112aa78045878e19d2b8e8af",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "initial_rgb_sha256": "67de1c279efd41435848e9230907ab7da0592ff1df19ee35da9a7f99170eddf9",
          "observation_matches_upstream": true,
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            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
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          "total_wall_s": 17.09434500199859,
          "compiled_physics_parameters_sha256": "61005b74323be9118d9e2739393e834c089c5cdbb6eeaaaedfe68eab36ff1f40",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                      -5.545555182370144e-13,
                      -7.789010677885988e-07
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                    "orientation": [
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                      -3.1778474508886374e-09,
                      -2.2133473135337998e-09,
                      -9.013288276381104e-18
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                      -3.812142380056193e-09,
                      6.820232502671688e-10,
                      0.7071067811865475
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.005595113630160135,
                      0.8309988967526866
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                    "orientation": [
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                      -0.5000000027071249,
                      0.5000000004956137,
                      0.49999999729287453
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                    "class": "Poker",
                    "value": "king",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.7659989987213236
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                    "orientation": [
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                      0.7071067811865464
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.15408882418456313,
                      0.8309988962552323
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                    "orientation": [
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                      0.5000000004956141,
                      0.49999999729287403
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                    "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07253496740117003,
                      0.0709596214510563,
                      0.8309988973975784
                    ],
                    "orientation": [
                      0.499999999504387,
                      -0.5000000027071251,
                      0.5000000004956134,
                      0.4999999972928748
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                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
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                  "position": [
                    0.0,
                    0.0,
                    0.0
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                  "orientation": [
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                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
                    "floorplane"
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                },
                "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_6",
          "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
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            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 163,
            "substeps": 1,
            "ik_converged": true,
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              -0.36361106042902114,
              -2.4854277890411556,
              -0.07788822271797731,
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            "ee_path_m": 0.765590153894338,
            "joint_path_rad": 4.647266119265925,
            "native_success": true,
            "simulation_time_s": 18.299999999999383,
            "object_displacement_m": {
              "table": 2.333031718126571e-06,
              "card_holder0": 2.2904219122083506e-06,
              "king_of_hearts": 2.2904206816099324e-06,
              "card_holder1": 2.3238025077530326e-06,
              "5_of_hearts": 2.32380124127219e-06,
              "card_holder2": 0.00030059531118815187,
              "jack_of_diamonds": 0.06966360636724332
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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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              "ee_path_m": 0.29926105964180494,
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              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.1374681811149049e-18,
                "card_holder0": 2.3938274444999964e-12,
                "king_of_hearts": 3.5731454427711234e-12,
                "card_holder1": 2.448947906106182e-12,
                "5_of_hearts": 3.633664770210453e-12,
                "card_holder2": 2.448947906106182e-12,
                "jack_of_diamonds": 3.622310110904824e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
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            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.9867566365003586
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              "joint_target": [
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                -0.34472767227363726,
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                -0.11372401876952004,
                2.39804512192845,
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              "gripper": [
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                0.04
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                0.9835290459914389
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              "ee_path_m": 0.5044265907147132,
              "joint_path_rad": 2.8510689075031275,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 9.288335509880628e-19,
                "card_holder0": 3.989691029117192e-12,
                "king_of_hearts": 5.954993145882168e-12,
                "card_holder1": 4.081579843510303e-12,
                "5_of_hearts": 6.055880457608851e-12,
                "card_holder2": 4.081579843510303e-12,
                "jack_of_diamonds": 6.036922303478481e-12
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              "task_progress": 0.0,
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            "200": {
              "step": 163,
              "substeps": 1,
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                0.9270359265804291
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                2.639554687818862,
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              "gripper": [
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                0.0
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              "ee_path_m": 0.765590153894338,
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              "native_success": true,
              "simulation_time_s": 18.299999999999383,
              "object_displacement_m": {
                "table": 2.333031718126571e-06,
                "card_holder0": 2.2904219122083506e-06,
                "king_of_hearts": 2.2904206816099324e-06,
                "card_holder1": 2.3238025077530326e-06,
                "5_of_hearts": 2.32380124127219e-06,
                "card_holder2": 0.00030059531118815187,
                "jack_of_diamonds": 0.06966360636724332
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            }
          },
          "steps": 163,
          "simulator_steps": 163,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
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          "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "252f2c9232c392055cf89377d5af9af0e9b68ff523044e03630691ee19216069",
          "observation_matches_upstream": true,
          "wall_s": 7.424276498000836,
          "ee_path_m": 0.765590153894338,
          "joint_path_rad": 4.647266119265925,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 82,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 16.489588944998104,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 139
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
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                    "orientation": [
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                      -5.117511683830617e-09,
                      -4.5210121872354474e-10,
                      -3.4739328163569874e-18
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.22159409258072887,
                      0.07013864205371936,
                      0.7659989907221931
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                    "orientation": [
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                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
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                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
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                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
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                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.07305675226437446,
                      0.7659989908348444
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                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
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                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.03904478291891425,
                      0.8309988888246669
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                    "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": "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
              }
            }
          },
          "policy_seed": 11,
          "id": "seed11_select_poker_7",
          "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,
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          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                      -2.765812391420025e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
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                  },
                  {
                    "name": "card_holder0",
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                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.8309988938538234
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                    "orientation": [
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
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                    "orientation": [
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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": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
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                    0.0,
                    0.0,
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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
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                },
                "target_entity": [
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                "target_container": null
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          },
          "policy_seed": 11,
          "id": "seed11_select_poker_9",
          "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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            "100": {
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            "200": {
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          },
          "steps": 161,
          "simulator_steps": 161,
          "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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          "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
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          "repeat_environment_steps": 2,
          "issued_commands": 81,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
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          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 129
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_toy",
            "seed": 42,
            "track_index": 0,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                      2.3304283678471674e-10,
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                    "class": "Table",
                    "materials": [
                      "stone2"
                    ]
                  },
                  {
                    "name": "giftbox_seen",
                    "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
                    "position": [
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                    "orientation": [
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                    "class": "CommonContainer"
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                  {
                    "name": "mickey",
                    "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml",
                    "position": [
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                      -0.15254077909313435,
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                    "orientation": [
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                    "class": "Toy"
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                  {
                    "name": "luffy",
                    "xml_path": "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": "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": [
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                    "class": "Toy"
                  },
                  {
                    "name": "spiderman",
                    "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml",
                    "position": [
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                    "orientation": [
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                "scene": {
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                  "position": [
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                  "orientation": [
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                  "floor_textures": [
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                },
                "instructions": [
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                "conditions": {
                  "contain": {
                    "container": "giftbox_seen",
                    "entities": [
                      "mickey"
                    ]
                  }
                },
                "target_entity": [
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                "target_container": "giftbox_seen"
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            }
          },
          "policy_seed": 11,
          "id": "seed11_select_toy_0",
          "instruction": "Put the mickey into the giftbox",
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            "simulation_time_s": 1.9999999999998905,
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              "luffy": 0.0,
              "ironman": 0.0,
              "spiderman": 0.0
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            "intention_score": 0.0,
            "grasped_objects": []
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          "final": {
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              "ironman": 1.0697944169784245e-06,
              "spiderman": 1.1259221571437024e-06
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            "task_progress": 0.5,
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          "snapshots": {
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              "step": 60,
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              "object_displacement_m": {
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            "100": {
              "step": 100,
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                  {
                    "name": "5_pin",
                    "xml_path": "obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                      0.8050088822294607
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                    "orientation": [
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                      0.0007963343914817552,
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                    "class": "Mahjong",
                    "value": "5",
                    "suite": "pin"
                  },
                  {
                    "name": "4_sou",
                    "xml_path": "obj/meshes/mahjong/mahjong.xml",
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                    "orientation": [
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                    "class": "Mahjong",
                    "value": "4",
                    "suite": "sou"
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                ],
                "scene": {
                  "name": "default",
                  "position": [
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                    0.0,
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                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
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                },
                "instructions": [
                  "Pick up the mahjong of 9 man"
                ],
                "conditions": {
                  "contain": {
                    "entities": [
                      "9_man"
                    ],
                    "container": "placemat"
                  }
                },
                "target_entity": [
                  "9_man"
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                "target_container": "placemat"
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_mahjong_9",
          "instruction": "Pick up the mahjong of 9 man",
          "initial": {
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            "simulation_time_s": 1.9999999999998905,
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              "4_sou": 0.0
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          "final": {
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              "step": 60,
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          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "original_entity": [
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          "observation_matches_upstream": true,
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          "hold": {
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            "persistent_both": false
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          "repeat_environment_steps": 2,
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 42,
            "track_index": 0,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Table",
                    "materials": [
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                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.13511619717054665,
                      0.8309988871670383
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                    "orientation": [
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                    "class": "Poker",
                    "value": "ace",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "jack",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
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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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                    "entities": [
                      "ace_of_hearts"
                    ],
                    "robot": "franka"
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                  "lift": {
                    "entities": [
                      "ace_of_hearts"
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                    "target_height": 0.9
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                },
                "target_entity": [
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                ],
                "target_container": null
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_0",
          "instruction": "Please pick the poker ace of hearts",
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              "king_of_clubs": 0.0,
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              "card_holder2": 0.0,
              "jack_of_hearts": 0.0,
              "card_holder3": 0.0,
              "9_of_spades": 0.0
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              "jack_of_hearts": 3.2203189653285877e-07,
              "card_holder3": 3.172286257925285e-07,
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                "ace_of_hearts": 6.679895658408837e-12,
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                "jack_of_hearts": 6.6798966921562695e-12,
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            "100": {
              "step": 100,
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          "repeat_environment_steps": 2,
          "issued_commands": 69,
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            "first_candidate_grasp": "requested",
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        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
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                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
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                    "materials": [
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                  {
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                  {
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                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
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                    "class": "CardHolder"
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                  {
                    "name": "5_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
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                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
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                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
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                  {
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                    "class": "Poker",
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                    "robot": "franka"
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                "target_container": null
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          "instruction": "Please pick the poker 8 of clubs",
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              "card_holder1": 0.0,
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              "card_holder2": 0.0,
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            "100": {
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                "card_holder0": 2.1974462865350215e-06,
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                "card_holder1": 2.2648586124897217e-06,
                "5_of_hearts": 2.2648573323316667e-06,
                "card_holder2": 2.3445900702247692e-06,
                "8_of_clubs": 2.344588647313241e-06,
                "card_holder3": 0.0025212060232997218,
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              "intention_score": 1.0,
              "grasped_objects": [
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          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
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          "repeat_environment_steps": 2,
          "issued_commands": 100,
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        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
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                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
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                    "materials": [
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                  {
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                    "class": "CardHolder"
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                  {
                    "name": "4_of_diamonds",
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                    "class": "Poker",
                    "value": "4",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.023341960053234773,
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                    "orientation": [
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                    "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_2",
          "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": [
              -0.06007596105337143,
              0.062350666522979714,
              0.9973514813184738
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            "target_euler": [
              2.9707717895507812,
              -0.036070771515369415,
              0.33570364117622375
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            "joint_target": [
              0.1721899866715315,
              0.010337902314196944,
              -0.023012130826767573,
              -2.364800807184827,
              -0.08287841152580398,
              2.2120328510987983,
              -4.056219728324576
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            "gripper": [
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              0.0
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            "ee_position": [
              -0.059504442934152885,
              0.05904130910296863,
              0.992456899326823
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            "ee_path_m": 0.738098785583403,
            "joint_path_rad": 5.534757688386555,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.091982287061336e-06,
              "card_holder0": 2.137686803597629e-06,
              "4_of_diamonds": 2.1376859538064576e-06,
              "card_holder1": 0.0015289805410239475,
              "9_of_spades": 0.05701331808035805,
              "card_holder2": 2.0774008994888513e-06,
              "8_of_hearts": 2.077400093183924e-06,
              "card_holder3": 2.048061303460735e-06,
              "4_of_hearts": 2.0480604668830063e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
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          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "target_position_world": [
                -0.11470959335565567,
                0.0007882475852966087,
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              "target_euler": [
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              "gripper": [
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              "ee_position": [
                -0.11372109096715537,
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                1.0256163107743024
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              "ee_path_m": 0.2957007564314435,
              "joint_path_rad": 1.7014379186972175,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 7.372574943882688e-18,
                "card_holder0": 2.3551386880256624e-12,
                "4_of_diamonds": 3.5532581776159275e-12,
                "card_holder1": 2.3613862386285653e-12,
                "9_of_spades": 3.5454420825937364e-12,
                "card_holder2": 2.3683492922357093e-12,
                "8_of_hearts": 3.5454420825937364e-12,
                "card_holder3": 2.3551386880256624e-12,
                "4_of_hearts": 3.5527730493238067e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
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            },
            "100": {
              "step": 100,
              "substeps": 1,
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              "joint_target": [
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                0.29283625720962053,
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                -2.4676154658906273,
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                2.7588075354748662,
                -3.634167085561033
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              "gripper": [
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              "ee_path_m": 0.48812894520194505,
              "joint_path_rad": 3.1502164243272253,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.055837972469059e-17,
                "card_holder0": 3.925231146709438e-12,
                "4_of_diamonds": 5.915800683459778e-12,
                "card_holder1": 3.935643731047609e-12,
                "9_of_spades": 5.909070137656228e-12,
                "card_holder2": 3.947248820392849e-12,
                "8_of_hearts": 5.909070137656228e-12,
                "card_holder3": 3.925231146709438e-12,
                "4_of_hearts": 5.91518948860399e-12
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              "task_progress": 0.0,
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            },
            "200": {
              "step": 200,
              "substeps": 1,
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              "target_euler": [
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                -0.036070771515369415,
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              "joint_target": [
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                2.2120328510987983,
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              "gripper": [
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              "ee_path_m": 0.738098785583403,
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              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.091982287061336e-06,
                "card_holder0": 2.137686803597629e-06,
                "4_of_diamonds": 2.1376859538064576e-06,
                "card_holder1": 0.0015289805410239475,
                "9_of_spades": 0.05701331808035805,
                "card_holder2": 2.0774008994888513e-06,
                "8_of_hearts": 2.077400093183924e-06,
                "card_holder3": 2.048061303460735e-06,
                "4_of_hearts": 2.0480604668830063e-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": [
            "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": 8.816277453006478,
          "ee_path_m": 0.738098785583403,
          "joint_path_rad": 5.534757688386555,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
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          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 19.2066493750026,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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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                      0.1194440192388725,
                      0.7659989982546671
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                    "orientation": [
                      0.7071067811865464,
                      -4.641352680417562e-09,
                      1.5715111343539685e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.15881049925149912,
                      0.11944397416928333,
                      0.8309988957885945
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                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
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                    "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07369461180695033,
                      0.05715997332156493,
                      0.8309988967053403
                    ],
                    "orientation": [
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                      -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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                      0.14224438865918912,
                      0.7659989990692347
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.6413526803883e-09,
                      1.571511134413264e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
                      0.4999999988706842,
                      -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"
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                },
                "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_3",
          "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": []
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          "final": {
            "step": 200,
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            "target_euler": [
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              -0.030061112716794014,
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            "joint_target": [
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              0.10826421805542745,
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            "gripper": [
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            "ee_path_m": 0.8082978285547462,
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            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.878114156338107e-07,
              "card_holder0": 2.5427892234113985e-07,
              "7_of_hearts": 0.0847366491060442,
              "card_holder1": 2.323358954420072e-05,
              "3_of_hearts": 0.07547448977169338,
              "card_holder2": 2.847527344898332e-07,
              "jack_of_diamonds": 2.8474777065431883e-07
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            "task_progress": 0.0,
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          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "ee_path_m": 0.29350847019979276,
              "joint_path_rad": 1.905624112935924,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.7385287734036824e-19,
                "card_holder0": 3.0537440611031886e-12,
                "7_of_hearts": 4.563216420467455e-12,
                "card_holder1": 3.0537440611031886e-12,
                "3_of_hearts": 4.555389195294179e-12,
                "card_holder2": 3.0780671479383804e-12,
                "jack_of_diamonds": 4.567458799177014e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
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            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
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                0.8374151650071144
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              "target_euler": [
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              "joint_target": [
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                -1.8381426970630037,
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                1.708865353941729,
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              "gripper": [
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              "ee_path_m": 0.5903682763837839,
              "joint_path_rad": 4.195801968983097,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.8777499140603227e-07,
                "card_holder0": 2.542336093464454e-07,
                "7_of_hearts": 0.08524069672357935,
                "card_holder1": 2.3214891586495908e-05,
                "3_of_hearts": 0.07538827204380952,
                "card_holder2": 2.847065175637786e-07,
                "jack_of_diamonds": 2.847034729248548e-07
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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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                0.9901781368255616
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              "gripper": [
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              "ee_path_m": 0.8082978285547462,
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              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.878114156338107e-07,
                "card_holder0": 2.5427892234113985e-07,
                "7_of_hearts": 0.0847366491060442,
                "card_holder1": 2.323358954420072e-05,
                "3_of_hearts": 0.07547448977169338,
                "card_holder2": 2.847527344898332e-07,
                "jack_of_diamonds": 2.8474777065431883e-07
              },
              "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": 8.605110961012542,
          "ee_path_m": 0.8082978285547462,
          "joint_path_rad": 5.138002484714306,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 16.474126574990805,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": [
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                      0.08074528299367634,
                      0.7659989986014384
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                    "orientation": [
                      0.7071067811865475,
                      -3.6591953290127157e-09,
                      -2.0614878104259223e-11,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_4",
          "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": [
              -0.06859961897134781,
              0.014794057607650735,
              0.9657829988002777
            ],
            "target_euler": [
              2.86537504196167,
              -0.05394522100687027,
              0.17929933965206146
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            "joint_target": [
              0.17422117928995387,
              0.006312696319590736,
              0.007392162471392795,
              -2.454163413095073,
              -0.0629721043877556,
              2.1828666129860377,
              -3.874577832937827
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              -0.06792069245177544,
              0.011365721977419398,
              0.9616602589721939
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            "ee_path_m": 0.6648826748918285,
            "joint_path_rad": 5.0417121142307515,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 3.1323739858863635e-06,
              "card_holder0": 3.1916085201298104e-06,
              "king_of_clubs": 3.191635955627892e-06,
              "card_holder1": 0.01622152358862739,
              "king_of_diamonds": 0.11463823974884643,
              "card_holder2": 3.1085036042948254e-06,
              "9_of_hearts": 3.108531004342252e-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": [
                -0.07888276129961014,
                0.0012319445610046165,
                0.9942215520143509
              ],
              "target_euler": [
                -3.0208046436309814,
                -0.07038786262273788,
                -0.3220556974411011
              ],
              "joint_target": [
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                -0.234388047090094,
                0.003037084045243949,
                -2.711019211997853,
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                2.5341374173592204,
                -3.2209828082744707
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              "gripper": [
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              "ee_position": [
                -0.07797392239449227,
                -0.0025755228224633928,
                0.9915715749622552
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              "ee_path_m": 0.30362174067754805,
              "joint_path_rad": 1.9755479512662153,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.1975743524168909e-18,
                "card_holder0": 2.2970149489377015e-12,
                "king_of_clubs": 3.4625921570065406e-12,
                "card_holder1": 2.2830241727586007e-12,
                "king_of_diamonds": 3.4027435260732355e-12,
                "card_holder2": 2.2670121430193837e-12,
                "9_of_hearts": 3.4030002017260606e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.08269801735877991,
                0.0253556430339813,
                0.8240107434988022
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              "target_euler": [
                2.8998961448669434,
                -0.080507792532444,
                0.1308523267507553
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              "joint_target": [
                0.20332130705568288,
                0.3812087035466091,
                -0.0010439321924009658,
                -2.428333003899617,
                -0.11045953781468655,
                2.559508617216289,
                -3.746634390689328
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.08222049892708021,
                0.024285341410975443,
                0.8214068086170707
              ],
              "ee_path_m": 0.5041947684598206,
              "joint_path_rad": 4.181637469620905,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.1584103511400217e-06,
                "card_holder0": 2.218857722379341e-06,
                "king_of_clubs": 2.2205227439575222e-06,
                "card_holder1": 0.0020182583634640924,
                "king_of_diamonds": 0.03082608133920512,
                "card_holder2": 2.1603859505584752e-06,
                "9_of_hearts": 2.1620508258483385e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "king_of_diamonds"
              ]
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.06859961897134781,
                0.014794057607650735,
                0.9657829988002777
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              "target_euler": [
                2.86537504196167,
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                0.17929933965206146
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              "joint_target": [
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                0.006312696319590736,
                0.007392162471392795,
                -2.454163413095073,
                -0.0629721043877556,
                2.1828666129860377,
                -3.874577832937827
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
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                0.011365721977419398,
                0.9616602589721939
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              "ee_path_m": 0.6648826748918285,
              "joint_path_rad": 5.0417121142307515,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 3.1323739858863635e-06,
                "card_holder0": 3.1916085201298104e-06,
                "king_of_clubs": 3.191635955627892e-06,
                "card_holder1": 0.01622152358862739,
                "king_of_diamonds": 0.11463823974884643,
                "card_holder2": 3.1085036042948254e-06,
                "9_of_hearts": 3.108531004342252e-06
              },
              "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": 8.696796959993662,
          "ee_path_m": 0.6648826748918285,
          "joint_path_rad": 5.0417121142307515,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "card_holder1",
            "king_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 19.61508289098856,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_5",
          "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": 151,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.1841745376586914,
              0.01903191804885862,
              0.9290360945463181
            ],
            "target_euler": [
              2.859907865524292,
              -0.053239159286022186,
              0.11676163971424103
            ],
            "joint_target": [
              0.9876278714359729,
              0.6914384708270439,
              -1.333750082259546,
              -2.349231046313436,
              0.6117137428157701,
              2.173041324726385,
              -4.844928602345603
            ],
            "gripper": [
              0.0,
              0.0
            ],
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                      0.7071067811865487,
                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "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": "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_7",
          "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": [
              -0.1598423272371292,
              0.0508092403411865,
              1.0071968871355057
            ],
            "target_euler": [
              2.8947536945343018,
              -0.0811988115310669,
              0.12841381132602692
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            "joint_target": [
              0.2516112252413155,
              0.07466753426873554,
              0.0983438286015275,
              -2.239345891049838,
              -0.034341176418551875,
              2.054793873569787,
              -3.6755506419605632
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.15872316431798386,
              0.047692876987711776,
              1.0021466388274998
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            "ee_path_m": 0.8206641558098265,
            "joint_path_rad": 4.88115568329525,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.451562675110039e-06,
              "card_holder0": 2.502012168754363e-06,
              "10_of_spades": 2.5020578660421987e-06,
              "card_holder1": 0.02774966685247585,
              "2_of_diamonds": 0.1749387185424771,
              "card_holder2": 2.4373618155610274e-06,
              "3_of_spades": 2.4374075438441337e-06,
              "card_holder3": 2.397037530258024e-06,
              "6_of_hearts": 2.3970832178055845e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "2_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.10373400896787643,
                0.007840877771377541,
                1.0208908903598786
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              "target_euler": [
                -3.0619723796844482,
                -0.06586811691522598,
                -0.49504393339157104
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              "joint_target": [
                0.21302296139999355,
                -0.23953040294974548,
                0.06419805238371548,
                -2.61566956461511,
                -0.12741792099884253,
                2.3840575007567066,
                -3.067580808122354
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.10287900007513534,
                0.003933575176530699,
                1.017686760264164
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              "ee_path_m": 0.2973412604175031,
              "joint_path_rad": 1.8316055177717003,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.4410203856839962e-17,
                "card_holder0": 3.181617165483508e-12,
                "10_of_spades": 4.7915072732401956e-12,
                "card_holder1": 3.1739808369145446e-12,
                "2_of_diamonds": 4.784405699703598e-12,
                "card_holder2": 3.2189887056018394e-12,
                "3_of_spades": 4.784239797989464e-12,
                "card_holder3": 3.181617165483508e-12,
                "6_of_hearts": 4.8027829853202094e-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": [
                -0.08369267731904984,
                0.06772465109825132,
                0.8493814903497696
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              "target_euler": [
                -3.1257715225219727,
                -0.0765891745686531,
                0.03696926683187485
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              "joint_target": [
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                0.3359274082208031,
                -0.046464618212854046,
                -2.4666567331516873,
                -0.18907143957661532,
                2.80146320304463,
                -3.607071447079714
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.08370149196114393,
                0.06587263111623382,
                0.8486448592663003
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              "ee_path_m": 0.4903697761664798,
              "joint_path_rad": 3.179013366136705,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 4.990414405947673e-08,
                "card_holder0": 4.9706693532144976e-08,
                "10_of_spades": 4.963259944621698e-08,
                "card_holder1": 2.7929394951336455e-06,
                "2_of_diamonds": 0.0019641932420693706,
                "card_holder2": 4.8653822694772286e-08,
                "3_of_spades": 4.856455609236832e-08,
                "card_holder3": 4.956543813360665e-08,
                "6_of_hearts": 4.946724402673611e-08
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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": [
                -0.1598423272371292,
                0.0508092403411865,
                1.0071968871355057
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              "target_euler": [
                2.8947536945343018,
                -0.0811988115310669,
                0.12841381132602692
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              "joint_target": [
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                -2.239345891049838,
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                2.054793873569787,
                -3.6755506419605632
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              "gripper": [
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                0.0
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              "ee_position": [
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                1.0021466388274998
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              "ee_path_m": 0.8206641558098265,
              "joint_path_rad": 4.88115568329525,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.451562675110039e-06,
                "card_holder0": 2.502012168754363e-06,
                "10_of_spades": 2.5020578660421987e-06,
                "card_holder1": 0.02774966685247585,
                "2_of_diamonds": 0.1749387185424771,
                "card_holder2": 2.4373618155610274e-06,
                "3_of_spades": 2.4374075438441337e-06,
                "card_holder3": 2.397037530258024e-06,
                "6_of_hearts": 2.3970832178055845e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "2_of_diamonds"
              ]
            }
          },
          "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": 9.085909477988025,
          "ee_path_m": 0.8206641558098265,
          "joint_path_rad": 4.88115568329525,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "2_of_diamonds",
            "card_holder1"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 17.457357646984747,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "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": "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": "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": "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
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_poker_8",
          "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": [
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              0.200751519203186,
              0.9072764056921006
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            "target_euler": [
              3.0068655014038086,
              -0.10473989695310593,
              0.09020355343818665
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            "joint_target": [
              -0.08908955997624471,
              0.5341280055183262,
              0.2563404181401763,
              -1.8826503072560798,
              -0.28975128811164697,
              2.238900008991397,
              -3.6701815692063464
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            "gripper": [
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              0.0
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            "ee_position": [
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              0.1964915526255101,
              0.8981469377409095
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            "ee_path_m": 0.9405186743713233,
            "joint_path_rad": 5.287272258158646,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 4.018678554684261e-06,
              "card_holder0": 4.058637634871341e-06,
              "4_of_hearts": 4.058659241718325e-06,
              "card_holder1": 0.014033854688202065,
              "5_of_hearts": 0.05552337571506337,
              "card_holder2": 4.004177635390187e-06,
              "ace_of_spades": 4.0041991622754575e-06
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            "task_progress": 0.6666666666666666,
            "intention_score": 1.0,
            "grasped_objects": [
              "5_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                1.1308681356906891
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              "target_euler": [
                2.940511703491211,
                -0.0554761104285717,
                -1.6070269346237183
              ],
              "joint_target": [
                0.02844023008597293,
                -0.328695747770797,
                0.13861945756902294,
                -2.38779764187533,
                0.28263004219034676,
                2.0306926599739383,
                -2.2858666852615097
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
                -0.1082926944449002,
                0.023220950819485275,
                1.1258563273759734
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              "ee_path_m": 0.3119943474569866,
              "joint_path_rad": 1.46232282281136,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.1725882719320455e-18,
                "card_holder0": 3.0718538955360006e-12,
                "4_of_hearts": 4.556509431308235e-12,
                "card_holder1": 3.0073960145744026e-12,
                "5_of_hearts": 4.557682781584036e-12,
                "card_holder2": 3.0456641095912934e-12,
                "ace_of_spades": 4.550588918327785e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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          },
          "steps": 200,
          "simulator_steps": 200,
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          "environment_step_s": 0.1,
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        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
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                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
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                    "materials": [
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                  {
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                    "xml_path": "obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
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                  {
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                    "class": "Poker",
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                    "suite": "clubs"
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
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                    "robot": "franka"
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                "target_container": null
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          "policy_seed": 29,
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                "card_holder1": 0.008792392682467945,
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                "card_holder2": 1.940618176435316e-06,
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          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
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          "initial_physics_sha256": "9887d1e17711416b5e3e7ee8deda3ac722e5d5bd5bf265fbec8abb6a66e193fd",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "initial_rgb_sha256": "169364a1b747e2f9f762ca69ede32c3e0fef60d473bca17979ddcf96469afaa0",
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          "hold": {
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            "completed_steps": 0,
            "error": null,
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            "persistent_alternative_only": false,
            "persistent_both": false
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          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
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            "first_candidate_grasp_action": 123
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_toy",
            "seed": 42,
            "track_index": 0,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                      2.3304283678471674e-10,
                      -7.675361707509702e-07
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                      3.995516596393811e-09
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                    "class": "Table",
                    "materials": [
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                    ]
                  },
                  {
                    "name": "giftbox_seen",
                    "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
                    "position": [
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                      0.03419328189914477,
                      0.7709990940592165
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                    "class": "CommonContainer"
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                  {
                    "name": "mickey",
                    "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml",
                    "position": [
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                      -0.15254077909313435,
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                    "orientation": [
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                      0.7069829767826772,
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                    "class": "Toy"
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                  {
                    "name": "luffy",
                    "xml_path": "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": "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": [
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                      0.707387899157554,
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                      4.6873058721711186e-05
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                    "class": "Toy"
                  },
                  {
                    "name": "spiderman",
                    "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml",
                    "position": [
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                      -0.06038427393045034,
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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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                    0.0,
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                  "orientation": [
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                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
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                },
                "instructions": [
                  "Put the mickey into the giftbox_seen"
                ],
                "conditions": {
                  "contain": {
                    "container": "giftbox_seen",
                    "entities": [
                      "mickey"
                    ]
                  }
                },
                "target_entity": [
                  "mickey"
                ],
                "target_container": "giftbox_seen"
              }
            }
          },
          "policy_seed": 29,
          "id": "seed29_select_toy_0",
          "instruction": "Put the mickey into the giftbox",
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                "instructions": [
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                  {
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                  {
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                    "class": "Poker",
                    "value": "jack",
                    "suite": "hearts"
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                  {
                    "name": "card_holder3",
                    "xml_path": null,
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                    "class": "CardHolder"
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                  {
                    "name": "9_of_spades",
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                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
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                ],
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                "instructions": [
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                "conditions": {
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                    ],
                    "robot": "franka"
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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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          },
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              "jack_of_hearts": 0.0,
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        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
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                "components": [
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                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
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                    "materials": [
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                  {
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                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
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                    "class": "CardHolder"
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                  {
                    "name": "5_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
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                  {
                    "name": "card_holder2",
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                  {
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                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
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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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                    "entities": [
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                    ],
                    "robot": "franka"
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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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          },
          "policy_seed": 47,
          "id": "seed47_select_poker_1",
          "instruction": "Please pick the poker 8 of clubs",
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              "card_holder2": 0.0,
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                "card_holder0": 2.291824662369991e-06,
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                "card_holder1": 2.3173689165783494e-06,
                "5_of_hearts": 2.3173664663379587e-06,
                "card_holder2": 0.00025457187177766133,
                "8_of_clubs": 0.0694377592887308,
                "card_holder3": 2.3733258053410173e-06,
                "queen_of_diamonds": 2.373323339431105e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
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          },
          "steps": 136,
          "simulator_steps": 136,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19",
          "observation_matches_upstream": true,
          "wall_s": 6.4496908799919765,
          "ee_path_m": 0.5929759511290078,
          "joint_path_rad": 4.266500349567522,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 68,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 15.455760679004015,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 107
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      1.2453404370727793e-13,
                      -7.412892325855532e-13,
                      -7.872541655946741e-07
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                    "orientation": [
                      1.0,
                      -3.728310467759129e-09,
                      -6.260660722252706e-10,
                      -4.265552169405024e-18
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                      0.024583897840483655,
                      0.7659989911809051
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                    "orientation": [
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                      2.19362807607307e-09,
                      0.7071067811865467
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                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.024583859592760073,
                      0.8309988887151056
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                    "orientation": [
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                      -0.5000000021915298,
                      0.5000000015659848,
                      0.4999999978084684
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                    "class": "Poker",
                    "value": "4",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.07745700588295698,
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                    "orientation": [
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                      -3.0790116657008755e-09,
                      2.1936280760673635e-09,
                      0.7071067811865475
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                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.0774569676352338,
                      0.8309988885193005
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                    "orientation": [
                      0.4999999984340156,
                      -0.5000000021915315,
                      0.5000000015659833,
                      0.4999999978084698
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                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                      0.023341998300958226,
                      0.7659989915457316
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                    "orientation": [
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                      -3.079011665669035e-09,
                      2.1936280759991955e-09,
                      0.707106781186547
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                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.023341960053234773,
                      0.8309988890799179
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                    "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": [
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                      -3.0790116656240354e-09,
                      2.193628076042048e-09,
                      0.7071067811865476
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                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.17390087280269334,
                      0.1452126620142527,
                      0.830998888309597
                    ],
                    "orientation": [
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                      -0.5000000021915313,
                      0.5000000015659833,
                      0.4999999978084701
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                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
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                  "orientation": [
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                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
                    "floorplane"
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                },
                "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_2",
          "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": []
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          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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              0.04698488712310789,
              0.961472659111023
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            "target_euler": [
              2.669689655303955,
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              0.08079218864440918
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            "joint_target": [
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              0.3110487300329188,
              0.2450285150755229,
              -2.0487777362361066,
              0.05060746428655121,
              1.8933257819500544,
              -3.6049892705535402
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            "gripper": [
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              0.0
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            "ee_path_m": 0.748550950290121,
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            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.2234230155460457e-06,
              "card_holder0": 0.010033500468913553,
              "4_of_diamonds": 0.1090427052436506,
              "card_holder1": 1.2469847061570173e-06,
              "9_of_spades": 1.2469990524716038e-06,
              "card_holder2": 1.1938589140669543e-06,
              "8_of_hearts": 1.1938733372501206e-06,
              "card_holder3": 1.1379605833960883e-06,
              "4_of_hearts": 1.1379750126490425e-06
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            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
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          "snapshots": {
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              "substeps": 1,
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                1.0263180422782898
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                -0.4759725332260132
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              "gripper": [
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                -0.026553422160544238,
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              "ee_path_m": 0.305110499171827,
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              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.213412687813166e-18,
                "card_holder0": 2.3551386880256624e-12,
                "4_of_diamonds": 3.553096239431181e-12,
                "card_holder1": 2.3613862386285653e-12,
                "9_of_spades": 3.5454420825937364e-12,
                "card_holder2": 2.3683492922357093e-12,
                "8_of_hearts": 3.5454420825937364e-12,
                "card_holder3": 2.3551386880256624e-12,
                "4_of_hearts": 3.5530766261033246e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
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            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.026437824964523293,
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              "target_euler": [
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                -0.026339992880821228
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              "joint_target": [
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                0.06063063110665489,
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                -0.23469066173161582,
                2.726422458600639,
                -3.2042897555239622
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              "gripper": [
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              "ee_path_m": 0.5128303584479457,
              "joint_path_rad": 2.8394904395496945,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 8.969615484360196e-08,
                "card_holder0": 4.737410616238368e-06,
                "4_of_diamonds": 0.0025060667425016877,
                "card_holder1": 7.351998035693494e-08,
                "9_of_spades": 7.234975187523249e-08,
                "card_holder2": 6.929269815208285e-08,
                "8_of_hearts": 6.805016087112785e-08,
                "card_holder3": 6.574479211818698e-08,
                "4_of_hearts": 6.443363671480332e-08
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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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              "target_euler": [
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                0.08079218864440918
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              "ee_path_m": 0.748550950290121,
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              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.2234230155460457e-06,
                "card_holder0": 0.010033500468913553,
                "4_of_diamonds": 0.1090427052436506,
                "card_holder1": 1.2469847061570173e-06,
                "9_of_spades": 1.2469990524716038e-06,
                "card_holder2": 1.1938589140669543e-06,
                "8_of_hearts": 1.1938733372501206e-06,
                "card_holder3": 1.1379605833960883e-06,
                "4_of_hearts": 1.1379750126490425e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_diamonds"
              ]
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          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "4_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "4_of_hearts"
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          "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "a386fb575532a7ae7970eb44edd0bb4b5b745214dae709c2110e6dda8a5c92d9",
          "observation_matches_upstream": true,
          "wall_s": 8.968339385988656,
          "ee_path_m": 0.748550950290121,
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          "ik_nonconverged": 0,
          "ever_grasped_objects": [
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          "hold": {
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            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 17.48897783702705,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      3.789724152025814e-13,
                      -7.666613412025772e-13,
                      -7.789010675591938e-07
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                    "orientation": [
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                      -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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                      0.1194440192388725,
                      0.7659989982546671
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                    "orientation": [
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                      -4.641352680417562e-09,
                      1.5715111343539685e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.11944397416928333,
                      0.8309988957885945
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                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.07369463407369549,
                      0.05716001839115409,
                      0.7659989991714484
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                    "orientation": [
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                      -4.641352680326007e-09,
                      1.5715111344216344e-09,
                      0.7071067811865475
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                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "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": [
                      0.0749570679408933,
                      0.14224438865918912,
                      0.7659989990692347
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.6413526803883e-09,
                      1.571511134413264e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
                      0.4999999988706842,
                      -0.5000000032982398,
                      0.5000000011293173,
                      0.4999999967017582
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                    "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
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                  "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_3",
          "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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              0.06931672096252439,
              0.9545112985372544
            ],
            "target_euler": [
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              -0.0739348754286766,
              0.03015553578734398
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            "joint_target": [
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              0.1625039043184083,
              -0.07102048453855205,
              -2.2819211189018946,
              -0.02639716907235702,
              2.187127287502934,
              -3.745531841968175
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            "gripper": [
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              0.0
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            "ee_position": [
              -0.08258074813800828,
              0.06564696457447355,
              0.949444072142047
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            "ee_path_m": 0.6562949864123725,
            "joint_path_rad": 4.0436904977610135,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
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                  {
                    "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
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "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
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                    "orientation": [
                      0.707106781186546,
                      -4.723494782554431e-09,
                      5.0449794958084284e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_clubs",
                    "xml_path": "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": "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_5",
          "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": [
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              -0.005713814496994041,
              1.0011249023675919
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            "target_euler": [
              2.8291430473327637,
              -0.011210670694708824,
              0.30638837814331055
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            "joint_target": [
              1.2352666654342253,
              -0.39875281804531626,
              -1.7108871184298582,
              -2.2542453192193785,
              -0.6717030006260166,
              1.9624041533298857,
              -4.299952152665289
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              0.2712986732470598,
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              0.9987336275806009
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            "ee_path_m": 0.8263027826632507,
            "joint_path_rad": 6.547659678391665,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 9.329547261896913e-18,
              "card_holder0": 1.4443570596498131e-11,
              "queen_of_spades": 2.1464681684562584e-11,
              "card_holder1": 1.4438944571653754e-11,
              "2_of_hearts": 2.1467220935770653e-11,
              "card_holder2": 1.4438944571653754e-11,
              "6_of_clubs": 2.146724867684313e-11,
              "card_holder3": 1.4404758911534277e-11,
              "jack_of_diamonds": 2.145148485701764e-11
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            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.2265697717666626,
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                1.1165730345249176
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              "target_euler": [
                -3.345082998275757,
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                1.673817211030748,
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              "gripper": [
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              "ee_position": [
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                -0.18799882912813126,
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              "ee_path_m": 0.33026707632832386,
              "joint_path_rad": 1.6128444626210698,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.4773811333581865e-17,
                "card_holder0": 4.333071178949439e-12,
                "queen_of_spades": 6.440031571594547e-12,
                "card_holder1": 4.331687509718675e-12,
                "2_of_hearts": 6.441270375513993e-12,
                "card_holder2": 4.331687509718675e-12,
                "6_of_clubs": 6.441464563059069e-12,
                "card_holder3": 4.321451941548983e-12,
                "jack_of_diamonds": 6.435534938861431e-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": [
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                0.9794581371545792
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              "target_euler": [
                -3.25502610206604,
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                -0.14707447588443756
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              "joint_target": [
                0.7171096592956799,
                -0.44089648181657404,
                -1.3520464407756267,
                -2.542868228114745,
                -0.7035555763912558,
                2.224079849150919,
                -3.87480831096652
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              "gripper": [
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                0.04
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              "ee_position": [
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              "ee_path_m": 0.5188790964731329,
              "joint_path_rad": 3.1256974503843797,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 4.354753440527024e-17,
                "card_holder0": 7.221785298249066e-12,
                "queen_of_spades": 1.0732951260722887e-11,
                "card_holder1": 7.219478914871739e-12,
                "2_of_hearts": 1.073496978052578e-11,
                "card_holder2": 7.219478914871739e-12,
                "6_of_clubs": 1.0735358155598968e-11,
                "card_holder3": 7.2024019904208895e-12,
                "jack_of_diamonds": 1.0725853413632581e-11
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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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                -0.005713814496994041,
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              "target_euler": [
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                -0.011210670694708824,
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              "joint_target": [
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                -2.2542453192193785,
                -0.6717030006260166,
                1.9624041533298857,
                -4.299952152665289
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                0.0
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              "ee_position": [
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              "ee_path_m": 0.8263027826632507,
              "joint_path_rad": 6.547659678391665,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 9.329547261896913e-18,
                "card_holder0": 1.4443570596498131e-11,
                "queen_of_spades": 2.1464681684562584e-11,
                "card_holder1": 1.4438944571653754e-11,
                "2_of_hearts": 2.1467220935770653e-11,
                "card_holder2": 1.4438944571653754e-11,
                "6_of_clubs": 2.146724867684313e-11,
                "card_holder3": 1.4404758911534277e-11,
                "jack_of_diamonds": 2.145148485701764e-11
              },
              "task_progress": 0.0,
              "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"
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          "initial_physics_sha256": "3f877b9d0aa4fce89fea983af27077a9d496f88b112aa78045878e19d2b8e8af",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "67de1c279efd41435848e9230907ab7da0592ff1df19ee35da9a7f99170eddf9",
          "observation_matches_upstream": true,
          "wall_s": 8.930285085982177,
          "ee_path_m": 0.8263027826632507,
          "joint_path_rad": 6.547659678391665,
          "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
          },
          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
          "command_interval_s": 0.2,
          "total_wall_s": 17.457367554015946,
          "compiled_physics_parameters_sha256": "61005b74323be9118d9e2739393e834c089c5cdbb6eeaaaedfe68eab36ff1f40",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
                      3.8642890570140353e-13,
                      -5.545555182370144e-13,
                      -7.789010677885988e-07
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                    "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.16699972320961695,
                      0.005595113630160135,
                      0.8309988967526866
                    ],
                    "orientation": [
                      0.4999999995043872,
                      -0.5000000027071249,
                      0.5000000004956137,
                      0.49999999729287453
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                    "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06617678329779163,
                      0.15408882418456313,
                      0.8309988962552323
                    ],
                    "orientation": [
                      0.49999999950438784,
                      -0.500000002707124,
                      0.5000000004956141,
                      0.49999999729287403
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                    "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
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07253496740117003,
                      0.0709596214510563,
                      0.8309988973975784
                    ],
                    "orientation": [
                      0.499999999504387,
                      -0.5000000027071251,
                      0.5000000004956134,
                      0.4999999972928748
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                    "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
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                  "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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_6",
          "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": []
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          "final": {
            "step": 163,
            "substeps": 1,
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              0.9269204276800156
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            "target_euler": [
              3.0816574096679688,
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              0.05464440584182739
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            "joint_target": [
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              -0.36060888501724675,
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              -0.07838411770809217,
              2.5446214926192563,
              -4.018954160965244
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            "gripper": [
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            "ee_path_m": 0.7368729809697543,
            "joint_path_rad": 4.560402210776074,
            "native_success": true,
            "simulation_time_s": 18.299999999999383,
            "object_displacement_m": {
              "table": 3.151723817844281e-06,
              "card_holder0": 3.0952817857789736e-06,
              "king_of_hearts": 3.0952811280264075e-06,
              "card_holder1": 3.1395675468242327e-06,
              "5_of_hearts": 3.1395668581995388e-06,
              "card_holder2": 0.0003985251940991121,
              "jack_of_diamonds": 0.07040780873569877
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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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              "target_euler": [
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              "joint_target": [
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              "gripper": [
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                1.1054253777107221
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              "ee_path_m": 0.30492192173322363,
              "joint_path_rad": 1.3871980530643035,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.2346619646621956e-18,
                "card_holder0": 2.3938209589193364e-12,
                "king_of_hearts": 3.573448876102518e-12,
                "card_holder1": 2.448947906106182e-12,
                "5_of_hearts": 3.6340060202816547e-12,
                "card_holder2": 2.448947906106182e-12,
                "jack_of_diamonds": 3.6226281216798077e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.07767745852470398,
                0.0605177044868469,
                0.9658881711959839
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              "target_euler": [
                -3.157719850540161,
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                -0.1510845273733139
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              "joint_target": [
                0.23673442944474107,
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                -0.38755887033454783,
                -2.487832357089187,
                -0.11859173998338447,
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              "gripper": [
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                0.07808648175476542,
                0.05604113705308825,
                0.9625317508738169
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                  {
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                      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
              }
            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_8",
          "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
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            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.2042618989944458,
              0.09287959933280943,
              0.9370433974266053
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            "target_euler": [
              3.117692232131958,
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            "joint_target": [
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              0.26231293454939375,
              0.17280348069568388,
              -2.2297391583966064,
              -0.20134777171116378,
              2.4142356411683834,
              -3.3697357877840632
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            "gripper": [
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            "ee_position": [
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              0.9311721227045959
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            "ee_path_m": 0.803420310284256,
            "joint_path_rad": 4.853189480396533,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.9791338399355994e-06,
              "card_holder0": 0.0009056921113619619,
              "4_of_hearts": 0.08114355215993585,
              "card_holder1": 1.9977833587905724e-06,
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              "card_holder2": 1.938949337522559e-06,
              "ace_of_spades": 1.9389468700193235e-06
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            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "4_of_hearts"
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          },
          "snapshots": {
            "60": {
              "step": 60,
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                "table": 4.630849294236348e-19,
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                "4_of_hearts": 4.556265699630925e-12,
                "card_holder1": 3.0072105621905936e-12,
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                "card_holder2": 3.04567572906551e-12,
                "ace_of_spades": 4.55073681820466e-12
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            "100": {
              "step": 100,
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              "object_displacement_m": {
                "table": 1.1305791075806125e-18,
                "card_holder0": 5.119756492560001e-12,
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            "200": {
              "step": 200,
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                "card_holder2": 1.938949337522559e-06,
                "ace_of_spades": 1.9389468700193235e-06
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              "task_progress": 0.0,
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              "grasped_objects": [
                "4_of_hearts"
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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",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "initial_rgb_sha256": "6133323293262e1914dc30dd8aa99bd30928c8aab30d81cca8759097ad4e7699",
          "observation_matches_upstream": true,
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          "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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          "repeat_environment_steps": 2,
          "issued_commands": 100,
          "environment_step_s": 0.1,
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          "total_wall_s": 16.374065054988023,
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            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "obj/meshes/table/table.xml",
                    "position": [
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                      -7.789010667117315e-07
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                      -2.765812391420025e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
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                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.17630444715375482,
                      0.8309988938538234
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                    "orientation": [
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
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                    "position": [
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "10",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                      0.7659989981401398
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.15498505286324626,
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                    "orientation": [
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
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                ],
                "scene": {
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                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
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                },
                "instructions": [
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                ],
                "conditions": {
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                    "robot": "franka"
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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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            }
          },
          "policy_seed": 47,
          "id": "seed47_select_poker_9",
          "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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          "final": {
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            "100": {
              "step": 100,
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                "10_of_clubs": 1.1753593276564254e-11,
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            "200": {
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                "card_holder2": 1.8857918109565994e-06,
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          },
          "steps": 143,
          "simulator_steps": 143,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "initial_physics_sha256": "9887d1e17711416b5e3e7ee8deda3ac722e5d5bd5bf265fbec8abb6a66e193fd",
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    }
  }
}