{
  "episodes": 16,
  "successes": 0,
  "success_rate": 0.0,
  "wilson_95_interval": [
    0,
    0.1936076805344365
  ],
  "simulator_failures": 0,
  "denominator_includes_simulator_failures": true,
  "completed": true,
  "wall_seconds": 882.2080649739983,
  "simulation_seconds": 364.15000000000003,
  "results": [
    {
      "instance_id": "53b63c6cf93609cc1891292da55e167f8a3b2d3c359a74f6f6eb169fc5bf80df",
      "task": "pour",
      "seed": 1034,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.25,
      "events": {
        "bilateral_grasp": 6.6499999999999995,
        "lifted": 8.3
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.53001594543457,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.08810899101942488,
        "mass_balance_error_kg": -8.326672684688674e-17,
        "energy_balance_error_j": -8.498091119690798e-12
      }
    },
    {
      "instance_id": "d989af7aa336acbd735ae136cda9b2e33543b546c8a21fdd48cefa0b72ab74cd",
      "task": "pour",
      "seed": 1035,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 27.099999999999998,
      "events": {
        "bilateral_grasp": 6.699999999999999,
        "lifted": 8.349999999999998
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.11754322052002,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.06247304462361245,
        "mass_balance_error_kg": 5.551115123125783e-17,
        "energy_balance_error_j": 5.1954884838778526e-11
      }
    },
    {
      "instance_id": "6762aad71953092a81158dec00c3df677667c2157aebda656cc05ed9d6fa6a63",
      "task": "pour",
      "seed": 1036,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.299999999999997,
      "events": {
        "bilateral_grasp": 6.700000000000003,
        "lifted": 8.350000000000001
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 9.125325202941895,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.09787636938809754,
        "mass_balance_error_kg": 0.0,
        "energy_balance_error_j": 3.8625103115919046e-11
      }
    },
    {
      "instance_id": "e1b5be60c6e49e67e03dcc94a693c0fc575407ea83252e3e7c721becc3aeafbd",
      "task": "pour",
      "seed": 1037,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 26.80000000000001,
      "events": {
        "bilateral_grasp": 6.700000000000003,
        "lifted": 8.350000000000009
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.318885803222656,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.07472634143656794,
        "mass_balance_error_kg": 0.0,
        "energy_balance_error_j": -2.944489096989855e-11
      }
    },
    {
      "instance_id": "5b2e495aa36400d9dc14f6e91cacdaf013b4f1152c205ef4f62b4e74ae0d36ad",
      "task": "pour",
      "seed": 1038,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 26.89999999999999,
      "events": {
        "bilateral_grasp": 6.699999999999989,
        "lifted": 8.349999999999994
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 9.824562072753906,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.07344578498579037,
        "mass_balance_error_kg": -5.551115123125783e-17,
        "energy_balance_error_j": 2.120259523508139e-11
      }
    },
    {
      "instance_id": "378dc1e3d4c1dd23c32814f65525dd63cb7c2f0f14601ae600379f6aba185618",
      "task": "pour",
      "seed": 1039,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.349999999999994,
      "events": {
        "bilateral_grasp": 6.75,
        "lifted": 8.399999999999977
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.266599655151367,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.0814633494130455,
        "mass_balance_error_kg": 0.0,
        "energy_balance_error_j": -6.821210263296962e-11
      }
    },
    {
      "instance_id": "85ae5f2553b5046c142796e2e823dcc5b6978742594e7f820006919519b53640",
      "task": "pour",
      "seed": 1040,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.349999999999994,
      "events": {
        "bilateral_grasp": 6.699999999999989,
        "lifted": 8.349999999999994
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.508183479309082,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.09829295270122093,
        "mass_balance_error_kg": -2.7755575615628914e-17,
        "energy_balance_error_j": 9.43032318900805e-11
      }
    },
    {
      "instance_id": "a8946d8e4ebb18fbe33c1f0a6b2d842d37a141bc21135c17e43d8099010c7076",
      "task": "pour",
      "seed": 1041,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.400000000000006,
      "events": {
        "bilateral_grasp": 6.699999999999989,
        "lifted": 8.349999999999994
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.359017372131348,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.08391109438561457,
        "mass_balance_error_kg": 8.326672684688674e-17,
        "energy_balance_error_j": 6.485834092018194e-11
      }
    },
    {
      "instance_id": "734ad82e813ed7b62005ccbf7dc4bf9d6ca46a847d6c5fd44a7aa769568f71eb",
      "task": "pour",
      "seed": 1042,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 26.75,
      "events": {
        "bilateral_grasp": 6.75,
        "lifted": 8.400000000000006
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 17.366275787353516,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.0782953041913586,
        "mass_balance_error_kg": 8.326672684688674e-17,
        "energy_balance_error_j": 3.558398020686582e-11
      }
    },
    {
      "instance_id": "522545169de93468c4628da9ec8109e8eedb288e957e033fd9de709bfe6bfd9f",
      "task": "pour",
      "seed": 1043,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 26.599999999999994,
      "events": {
        "bilateral_grasp": 6.650000000000006,
        "lifted": 8.299999999999983
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 9.199831008911133,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.07704509150439139,
        "mass_balance_error_kg": 2.7755575615628914e-17,
        "energy_balance_error_j": -4.126832209294662e-11
      }
    },
    {
      "instance_id": "a4630987fc7dfbc6214fc1b6890e49d72446c1f573a89475efc209cc8801f3f7",
      "task": "pour",
      "seed": 1044,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.149999999999977,
      "events": {
        "bilateral_grasp": 6.650000000000006,
        "lifted": 8.300000000000011
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 9.5181245803833,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.08158207529374921,
        "mass_balance_error_kg": -2.7755575615628914e-17,
        "energy_balance_error_j": 1.921307557495311e-11
      }
    },
    {
      "instance_id": "136e8330b3b41cff762e896b790e2942052c1f842bb87e3f79a779c7a91e566d",
      "task": "pour",
      "seed": 1045,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.350000000000023,
      "events": {
        "bilateral_grasp": 6.800000000000011,
        "lifted": 8.450000000000045
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.22903823852539,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.13209695073815042,
        "mass_balance_error_kg": 8.326672684688674e-17,
        "energy_balance_error_j": -1.3528733688872308e-11
      }
    },
    {
      "instance_id": "2bf9da84f2781b6b91bdc2d7b03c00bdae58fa7ae3179715ffcf0f14ea0be61b",
      "task": "pour",
      "seed": 1046,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 27.0,
      "events": {
        "bilateral_grasp": 6.699999999999989,
        "lifted": 8.350000000000023
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.021408081054688,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.07231053801430505,
        "mass_balance_error_kg": 2.7755575615628914e-17,
        "energy_balance_error_j": 3.083755473198835e-12
      }
    },
    {
      "instance_id": "5db2492b11af3ecf700520839e04ceadf640bbdf7df0e0d1647aa2d29d7fb725",
      "task": "pour",
      "seed": 1047,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.149999999999977,
      "events": {
        "bilateral_grasp": 6.649999999999977,
        "lifted": 8.300000000000011
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 9.23929500579834,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.10434622003789634,
        "mass_balance_error_kg": -2.7755575615628914e-17,
        "energy_balance_error_j": -7.44293515708705e-12
      }
    },
    {
      "instance_id": "5ad0b62e48ed413b705f08d59e14a74f245164a028797c2330401075cf0b3224",
      "task": "pour",
      "seed": 1048,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.350000000000023,
      "events": {
        "bilateral_grasp": 6.7000000000000455,
        "lifted": 8.350000000000023
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.710729598999023,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.10344258755522134,
        "mass_balance_error_kg": -8.326672684688674e-17,
        "energy_balance_error_j": 6.821210263296962e-11
      }
    },
    {
      "instance_id": "ec891b218c20e33dad47998b431a0a0a6858e696beaeaa6771cddc8216cdca61",
      "task": "pour",
      "seed": 1049,
      "split": "heldout",
      "success": false,
      "termination": "policy_incomplete",
      "simulation_seconds": 20.350000000000023,
      "events": {
        "bilateral_grasp": 6.699999999999989,
        "lifted": 8.350000000000023
      },
      "metrics": {
        "sampled_peak_finger_contact_n": 8.368864059448242,
        "drawer_open_seconds": 0.0,
        "delivered_mass_error_kg": 0.08,
        "spilled_kg": 0.10441724400059921,
        "mass_balance_error_kg": -1.6653345369377348e-16,
        "energy_balance_error_j": 7.958078640513122e-12
      }
    }
  ]
}