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"pd_joint_delta_pos", "elapsed_steps": 200, "label": "closed_success", "events": ["slightly_closed", "closed", "success"], "events_verbose": [[[13, 14], "collision", [522.0, 96.83]], [14, "slightly_closed", null], [[15, 16, 18, 19, 20, 21, 22], "collision", [46.04, 12.54, 19.68, 17.45, 13.14, 674.29, 381.26]], [23, "closed", null], [[23], "collision", [153.4]], [43, "success", null]], "articulation_type": "kitchen_counter", "reset_kwargs": {}, "success_once": true, "success_at_end": true, "fail": false } ], "source_type": "RL", "source_desc": "RL policy trained exclusively to close kitchen_counter in the set_table task." }