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+      "asset_name": "robot",
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+      "clip": null,
+      "joint_names": [
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+      "params": {},
+      "mode": "reset",
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+      "is_global_time": false,
+      "min_step_count_between_reset": 0
+    }
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+  "xr": null,
+  "teleop_devices": {
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+  "episode_length_s": 60,
+  "rewards": {},
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+      "func": "isaaclab.envs.mdp.terminations:time_out",
+      "params": {},
+      "time_out": true
+    },
+    "success": {
+      "func": "robolab.core.task.conditionals:object_outside_of_and_on_surface",
+      "params": {
+        "object": "keyboard",
+        "container": "grey_bin",
+        "surface": "table",
+        "require_gripper_detached": true
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+      "time_out": false
+    }
+  },
+  "curriculum": {},
+  "commands": {},
+  "subtasks": [
+    {
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+            "functools.partial(<function object_grabbed at 0x738840726700>, object='keyboard')",
+            0.0
+          ],
+          [
+            "functools.partial(<function object_on_top at 0x7388420f6700>, object='keyboard', reference_object='table', require_gripper_detached=True)",
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+      "name": "pick_and_place_on_surface"
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+    "spatial",
+    "simple"
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+    "spatial",
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+  "_task_name": "KeyboardOutOfBinTask",
+  "num_envs": 1,
+  "env_spacing": 10.0,
+  "contact_gripper": {
+    "gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"
+  },
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+  "instruction": "Take the keyboard out of the bin and put it on the table",
+  "contact_object_list": [
+    "ceramic_mug",
+    "glasses",
+    "keyboard",
+    "lizard_figurine",
+    "marker",
+    "remote_control",
+    "smartphone",
+    "wooden_bowl",
+    "spoon_big",
+    "computer_mouse",
+    "yogurt_cup",
+    "granola_bars",
+    "grey_bin",
+    "table"
+  ],
+  "_instruction_variants": {
+    "default": "Take the keyboard out of the bin and put it on the table",
+    "vague": "Take the keyboard out",
+    "specific": "Reach into the bin, grasp the keyboard, lift it out, and place it on the table surface"
+  },
+  "policy": "pi05",
+  "renderer": "realtime"
+}
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