{
  "episodes": 17,
  "successes": 9,
  "success_rate": 0.5294117647058824,
  "wilson_95_interval": [
    0.30963235060004424,
    0.7383489355759056
  ],
  "simulator_failures": 0,
  "denominator_includes_simulator_failures": true,
  "completed": true,
  "wall_seconds": 745.3314067140018,
  "simulation_seconds": 723.05,
  "results": [
    {
      "instance_id": "00a850d54ba7dfe5745f8ff0bc458174814d617271b015547972f3936d24616d",
      "task": "drawer",
      "seed": 1017,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.9,
      "events": {
        "drawer_opened": 11.45,
        "bilateral_grasp": 19.55,
        "lifted": 21.05,
        "item_retrieved": 23.3,
        "stable_completion": 42.9
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 63.06676483154297,
        "drawer_open_seconds": 31.95,
        "drawer_closure_error_m": 0.005731821060180664,
        "placement_error_m": 0.006052635592162337
      }
    },
    {
      "instance_id": "18ab469ac94939208fee45a58fffe2701e54564aca85645501701befb4306205",
      "task": "drawer",
      "seed": 1018,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.9,
      "events": {
        "drawer_opened": 11.449999999999996,
        "bilateral_grasp": 19.550000000000004,
        "lifted": 21.050000000000004,
        "item_retrieved": 23.300000000000004,
        "stable_completion": 42.9
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 62.601966857910156,
        "drawer_open_seconds": 31.949999999999996,
        "drawer_closure_error_m": 0.006425619125366211,
        "placement_error_m": 0.005911767849361551
      }
    },
    {
      "instance_id": "5ddd601c135a9abdae12e3ed088f8f3f44e1add128b8ebcd0654d098338d8385",
      "task": "drawer",
      "seed": 1019,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 41.900000000000006,
      "events": {
        "drawer_opened": 11.450000000000003,
        "bilateral_grasp": 19.549999999999997,
        "lifted": 21.049999999999997,
        "item_retrieved": 23.299999999999997
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 77.58243560791016,
        "drawer_open_seconds": 31.85000000000001,
        "drawer_closure_error_m": 0.045046210289001465,
        "placement_error_m": 0.0064461916383927184
      }
    },
    {
      "instance_id": "948e62bf17746bd8c283cb27c6bda686f00ffe3e7040abb042c90bc0a003438b",
      "task": "drawer",
      "seed": 1020,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.900000000000006,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.549999999999983,
        "lifted": 21.049999999999983,
        "item_retrieved": 23.299999999999983,
        "stable_completion": 42.900000000000006
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 72.20980072021484,
        "drawer_open_seconds": 32.0,
        "drawer_closure_error_m": 0.007294416427612305,
        "placement_error_m": 0.007380686102099219
      }
    },
    {
      "instance_id": "31e0d3233a3aa5376800c177e6964327043eb36b1dbab5709d468b7d4089a361",
      "task": "drawer",
      "seed": 1021,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.04999999999998,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.549999999999983,
        "lifted": 21.049999999999983,
        "item_retrieved": 23.299999999999983
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 84.66388702392578,
        "drawer_open_seconds": 32.0,
        "drawer_closure_error_m": 0.046210646629333496,
        "placement_error_m": 0.006708351337357374
      }
    },
    {
      "instance_id": "1ca8027ef6e9c43292c699d8bfd1084e05b409030347874a34a54d7c6920ea93",
      "task": "drawer",
      "seed": 1022,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.150000000000006,
      "events": {
        "drawer_opened": 11.450000000000017,
        "bilateral_grasp": 19.55000000000001,
        "lifted": 21.05000000000001,
        "item_retrieved": 23.30000000000001
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 81.1767578125,
        "drawer_open_seconds": 32.099999999999994,
        "drawer_closure_error_m": 0.0462571382522583,
        "placement_error_m": 0.006734030692565574
      }
    },
    {
      "instance_id": "ff18d77d1677aab6467cdcbe85244757c59870dd9a6699542fcbde521421cc14",
      "task": "drawer",
      "seed": 1023,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.14999999999998,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.55000000000001,
        "lifted": 21.05000000000001,
        "item_retrieved": 23.30000000000001
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 63.05351638793945,
        "drawer_open_seconds": 32.099999999999966,
        "drawer_closure_error_m": 0.04942619800567627,
        "placement_error_m": 0.0064402672638469455
      }
    },
    {
      "instance_id": "f0a9f92f7ee843034493beaa465ba9b0efff53988c7ce7022dc484266752dd84",
      "task": "drawer",
      "seed": 1024,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.950000000000045,
      "events": {
        "drawer_opened": 11.450000000000045,
        "bilateral_grasp": 19.55000000000001,
        "lifted": 21.05000000000001,
        "item_retrieved": 23.30000000000001,
        "stable_completion": 42.950000000000045
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 72.69744110107422,
        "drawer_open_seconds": 32.0,
        "drawer_closure_error_m": 0.003924369812011719,
        "placement_error_m": 0.006801847765711809
      }
    },
    {
      "instance_id": "88982847486a617d71d1fdca63007b125d5ddcec8ad2fa2d6179f287471d0600",
      "task": "drawer",
      "seed": 1025,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.14999999999998,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.549999999999955,
        "lifted": 21.049999999999955,
        "item_retrieved": 23.299999999999955
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 73.10826110839844,
        "drawer_open_seconds": 32.10000000000002,
        "drawer_closure_error_m": 0.04770076274871826,
        "placement_error_m": 0.00710492865568676
      }
    },
    {
      "instance_id": "e95dec5ad95fd90191461faea21c1200e75136e89162045e3070a982abaf7e58",
      "task": "drawer",
      "seed": 1026,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.10000000000002,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.55000000000001,
        "lifted": 21.05000000000001,
        "item_retrieved": 23.30000000000001
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 71.7022933959961,
        "drawer_open_seconds": 32.05000000000001,
        "drawer_closure_error_m": 0.0370631217956543,
        "placement_error_m": 0.0056455010913196305
      }
    },
    {
      "instance_id": "01ff95e2b57508ee1e026929c8a072e6458ad7a550f31a04b01daee34932cbaa",
      "task": "drawer",
      "seed": 1027,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.94999999999999,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.549999999999955,
        "lifted": 21.049999999999955,
        "item_retrieved": 23.299999999999955,
        "stable_completion": 42.94999999999999
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 71.37073516845703,
        "drawer_open_seconds": 32.05000000000001,
        "drawer_closure_error_m": 0.004056453704833984,
        "placement_error_m": 0.006052706962701801
      }
    },
    {
      "instance_id": "909cb233425c1d7600d4414f335a0184377caa9c746ba1e82ddf2bcf0b4f663c",
      "task": "drawer",
      "seed": 1028,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.99999999999994,
      "events": {
        "drawer_opened": 11.449999999999989,
        "bilateral_grasp": 19.55000000000001,
        "lifted": 21.05000000000001,
        "item_retrieved": 23.30000000000001,
        "stable_completion": 42.99999999999994
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 70.93820190429688,
        "drawer_open_seconds": 32.049999999999955,
        "drawer_closure_error_m": 0.00435185432434082,
        "placement_error_m": 0.006792097686640786
      }
    },
    {
      "instance_id": "d6f15081b8ddc2329f1603e03348f08cd5f7b63efdcd3cc1b2c051a15f0ea1a3",
      "task": "drawer",
      "seed": 1029,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.90000000000009,
      "events": {
        "drawer_opened": 11.450000000000045,
        "bilateral_grasp": 19.550000000000068,
        "lifted": 21.050000000000068,
        "item_retrieved": 23.300000000000068,
        "stable_completion": 42.90000000000009
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 81.67890167236328,
        "drawer_open_seconds": 31.949999999999932,
        "drawer_closure_error_m": 0.0046520233154296875,
        "placement_error_m": 0.006809430199527072
      }
    },
    {
      "instance_id": "22c5f759051af1b2d29de18cfe325b80b1535e0c0dde6cb2ced6263a74db9fb0",
      "task": "drawer",
      "seed": 1030,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.049999999999955,
      "events": {
        "drawer_opened": 11.449999999999932,
        "bilateral_grasp": 19.549999999999955,
        "lifted": 21.049999999999955,
        "item_retrieved": 23.299999999999955
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 71.99312591552734,
        "drawer_open_seconds": 32.0,
        "drawer_closure_error_m": 0.03350257873535156,
        "placement_error_m": 0.006852362498577314
      }
    },
    {
      "instance_id": "517ef4012a83b67e0ca78fbee7b55c1ceba95b7d9365764d000abee3b29050f4",
      "task": "drawer",
      "seed": 1031,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 42.950000000000045,
      "events": {
        "drawer_opened": 11.450000000000045,
        "bilateral_grasp": 19.549999999999955,
        "lifted": 21.049999999999955,
        "item_retrieved": 23.299999999999955,
        "stable_completion": 42.950000000000045
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 75.72435760498047,
        "drawer_open_seconds": 32.05000000000007,
        "drawer_closure_error_m": 0.003907680511474609,
        "placement_error_m": 0.006433526745733344
      }
    },
    {
      "instance_id": "3233ea506592478e806b20d1e2b8811d3b7f755be8eb18686a1230c5a58d1ce0",
      "task": "drawer",
      "seed": 1032,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 42.049999999999955,
      "events": {
        "drawer_opened": 11.449999999999932,
        "bilateral_grasp": 19.549999999999955,
        "lifted": 21.049999999999955,
        "item_retrieved": 23.299999999999955
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 66.04138946533203,
        "drawer_open_seconds": 32.0,
        "drawer_closure_error_m": 0.04631316661834717,
        "placement_error_m": 0.006026702490150405
      }
    },
    {
      "instance_id": "6791978511a07a5a66dcae73d1c1208f13e254334180de9dae8af1dea12e58ec",
      "task": "drawer",
      "seed": 1033,
      "split": "heldout",
      "success": true,
      "termination": "success",
      "simulation_seconds": 43.0,
      "events": {
        "drawer_opened": 11.450000000000045,
        "bilateral_grasp": 19.549999999999955,
        "lifted": 21.049999999999955,
        "item_retrieved": 23.299999999999955,
        "stable_completion": 43.0
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 73.50485229492188,
        "drawer_open_seconds": 32.05000000000007,
        "drawer_closure_error_m": 0.0037631988525390625,
        "placement_error_m": 0.006194240976271098
      }
    }
  ]
}
